Rotorcraft Trajectory Optimization with Realizability Considerations
Publication: Journal of Aerospace Engineering
Volume 18, Issue 3
Abstract
This paper considers the problem of computing optimal trajectories for rotorcraft systems. The vehicle is described through a flight mechanics model, and the optimal control problem is solved by discretizing the vehicle governing equations using a finite-element method, followed by optimization of the resulting finite-dimensional problem. It is found that the computed control policies exhibit oscillations and very high—and therefore unrealistic—time rates, especially for aggressive or emergency maneuvers. Highly oscillatory controls can affect the vehicle trajectory by, for example, exciting short period type oscillations. We argue that this behavior of the computed controls is due to the lack of modeling detail of the vehicle actuators, implied by the classical treatment of the system controls as algebraic variables. We propose a simple, low-cost solution that is based on the recovery of the control time rates through a Galerkin projection. This approach is motivated by the desire to avoid direct modeling of the actuator dynamics, which typically requires one to resolve fine temporal scales in the solution. The recovered control rates can then be constrained to remain within physically acceptable bounds during the solution and can also be included in the optimization cost functions. Numerical experiments are shown to demonstrate that smoother control time histories and vehicle trajectories are computed through this approach.
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Acknowledgments
The writers wish to acknowledge the help of F. Nannoni, M. Preatoni, and A. Ragazzi of Agusta-Westland in the development, testing, and validation of the flight mechanics models. A.C., D.L., and L.R. acknowledge the hospitality of the D. Guggenheim School of Aerospace Engineering of the Georgia Institute of Technology while working on the research described in this paper.
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History
Received: Jan 16, 2004
Accepted: Aug 31, 2004
Published online: Jul 1, 2005
Published in print: Jul 2005
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