This paper deals with the optimization of the observer trajectory for target motion analysis. The observations are made of estimated bearings. The problem consists in determining the sequence of controls (e.g. the observer headings) which maximizes a cost functional. This cost functional is generally a functional of the FIM matrix associated with the estimation of the source trajectory paramete...

An optimal explicit guidance law that maximizes terminal velocity is developed for a reentry vehicle to a fixed target. The equations of motion are reduced with differential flatness approach and acceleration commands are related to trajectory’s parameters. An optimal trajectory is determined by solving a real-coded genetic algorithm. For online trajectory generation, optimal trajectory is appr...

The tethered space robot (TSR) is a new concept of space robot which consists of a robot platform, space tether and operation robot. This paper presents a multi-objective optimal trajectory planning and a coordinated tracking control scheme for TSR based on velocity impulse in the approaching phase. Both total velocity impulse and flight time are included in this optimization. The non-dominated...

This paper considers a nonlinear constrained optimal control problem (NCOCP) originated from energy optimal trajectory planning of servomotor systems. Solving the exact optimal solution is challenging because of the nonlinear and switching cost function, and various constraints. This paper proposes a method to manage the switching cost function to establish a set of necessary conditions of an N...

In this paper, we present a method for learning the reward function for humanoid locomotion from motioncaptured demonstrations of human running. We show how an approximate, local inverse optimal control algorithm can be used to learn the reward function for this high dimensional domain, and demonstrate how trajectory optimization can then be used to recreate dynamic, naturalistic running behavi...

This paper studies the partially observed stochastic optimal control problem for systems with state dynamics governed by Partial Differential Equations (PDEs) that leads to an extremely large problem. First, an open-loop deterministic trajectory optimization problem is solved using a black box simulation model of the dynamical system. Next, a Linear Quadratic Gaussian (LQG) controller is design...

This paper proposes a novel framework to generate an optimal gait trajectory with respect to the energy consumption for a planar one-legged robot via iterative learning control. The proposed method is based on the symmetric property of the variational systems of Hamiltonian systems called variational symmetry. This technique allows one to obtain solutions of a class of optimal control problems ...

Nowadays, autonomously operated nonholonomic vehicles are employed in a wide range of applications, ranging from relatively simple household chores (e.g., carpet vacuuming and lawn mowing) to highly sophisticated assignments (e.g., outer space exploration and combat missions). Each application may require different levels of accuracy and capabilities from the vehicles, yet, all expect the same ...

Ball and hoop system is a well-known model for the education of linear control systems. In this paper, we have a look at this system from another perspective and show that it is also suitable for demonstration of more advanced control techniques. In contrast to the standard use, we describe the dynamics of the system at full length; in addition to the mode where the ball rolls on the (outer) ho...