| 李群变分积分子在最优航迹规划中的应用 |
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| 作者姓名： | 杨盛庆 王禹 陈桦 王嘉轶 刘美师 |
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| 作者单位： | 上海航天控制技术研究所,上海航天控制技术研究所,上海航天控制技术研究所,上海航天控制技术研究所,上海航天控制技术研究所 |
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| 基金项目： | 上海市青年科技启明星计划资助（17QB1401400） |
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| 摘 要： | 结合几何力学的相关理论,研究了个体的航迹优化的控制策略及其算法实现。构造随机规划算法以获取可行航迹点序列,具有较好的全局收敛性。利用最优控制方法求解所得航迹点之间的最优控制。几何力学着眼于个体的几何特性,利用李群来描述刚体的运动。依据离散变分原理得到了刚体的李群变分积分子。藉由李群变分积分子构造的最优控制算法,可以高效的实现刚体运动的最优控制。
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| 关 键 词： | 航迹优化 李群变分积分子 离散变分原理 离散力学与最优控制 |
| 收稿时间： | 2019/1/9 0:00:00 |
| 修稿时间： | 2019/1/9 0:00:00 |
Application of Lie Group Variational Integrator in Trajectory Planning |
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| Authors: | YANG Shengqing WANG Yu CHEN Hu WANG Jiayi and LIU Meishi |
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| Institution: | Shanghai Institute of Spaceflight Control Technology,Shanghai Institute of Spaceflight Control Technology,Shanghai Institute of Spaceflight Control Technology,Shanghai Institute of Spaceflight Control Technology,Shanghai Institute of Spaceflight Control Technology |
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| Abstract: | With the help of geometric mechanics, the trajectory planning of single spacecraft was discussed in this paper. The trajectory planning was divided into two procedures. Firstly, global planning algorithms are used to find a series of feasible way-points. Then, optimal controls are used to generate the motion between the way-points. Geometric mechanic focuses on the geometric character of rigid body, in which Lie group variational integrator of rigid body is derived by variational principle. The discrete mechanics and optimal control (DMOC) algorithms based on Lie group variational integrator results in a high precision optimal control of rigid body. |
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| Keywords: | trajectory planning Lie group variational integrator discrete variaional principle discrete mechanics and optimal control |
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