In this paper, the particular solution technique for inverse simulation applied to the quadrotor maneuvering flight is investigated. The ‎trust-region dogleg (DL) technique which is proposed alleviates the weakness of Newton’s method used for numerical differentiation of system states in the solution process. The proposed technique emphasizes global convergence solution to the inverse simulatio...

Unguided reentry capsules are usually involved in ballistic entry. The final states (such as altitude and velocity of parachute activity) depend on initials parameters. Reentry trajectory parameters differently affect the thermal protection system (TPS), required deorbit propellant, and structural load. The purpose of this paper is to optimal design of deorbit parameters to minimize the thermal...

this article addresses an efficient and novel method for singularity-free path planning and obstacle avoidance of parallel manipulator based on neural networks. a modified 4-5-6-7 interpolating polynomial is used to plan a trajectory for a spherical parallel manipulator. the polynomial function which is smooth and continuous in displacement, velocity, acceleration and jerk is used to find a pat...

We present a novel trajectory optimization framework to address the issue of robustness, scalability and efficiency in optimal control and reinforcement learning. Based on prior work in Cooperative Stochastic Differential Game (CSDG) theory, our method performs local trajectory optimization using cooperative controllers. The resulting framework is called Cooperative Game-Differential Dynamic Pr...

In this paper a general procedure devoted to trajectory optimization is presented. This procedure is used for optimizing the trajectory of a parallel manipulator named CaPaMan (Cassino Parallel Manipulator) by using a performance criterion that includes the mechanical energy and the total traveling time. The resulting scalar objective function is then minimized. The trajectory is represented by...

This paper compares three different global indirect approaches for solving the problem of finding optimal trajectories for low thrust spacecraft. The three methods tested were downhill simplex, genetic algorithms and simulated annealing. Two problems are analyzed. The first is a planar low thrust problem. This is the problem of finding a minimum time trajectory from Earth to Mars orbit using a ...

optimal balancing is a new approach based on optimal control a which modes, controls and the amount of equilibrium scale are calculated simultaneously. this approach has a significant effect on increasing performance of industrial robots which causes maximum decreasing of energy consumption. despite many applications of robotics such as welding and gluing, the path is predefined , but other unk...

We review the application of trajectory methods (not including homotopy methods) to global optimization problems. The main ideas and the most successful methods are described and directions of current and future research are indicated.

We present a formulation of rigid body dynamics with frictional contact that leverages ideas from discrete mechanics to derive time-stepping schemes with any desired order of integration accuracy. By utilizing the new time-stepping methods as dynamics constraints in a direct trajectory optimization scheme, we are able to perform contact-implicit trajectory optimization with accuracy equal to tr...

A computationally efficient technique for the numerical solution of optimal control problems is discussed. This method utilizes tools from nonlinear control theory to transform the optimal control problem to a new, lower dimensional set of coordinates. It is hypothesized that maximizing the relative degree in this transformation is directly related to minimizing the computation time. Firm evide...