Improved collocation methods with application to six-degree-of-freedom trajectory optimization.

摘要

An improved collocation method is developed for a class of problems that is intractable, or nearly so, by conventional collocation. These are problems in which there are two distinct timescales of the system states, that is, where a subset of the states have high-frequency variations while the remaining states vary comparatively slowly. In conventional collocation, the timescale for the discretization would be set by the need to capture the high-frequency dynamics. The problem then becomes very large and the solution of the corresponding nonlinear programming problem becomes geometrically more time consuming and difficult. A new two-timescale discretization method is developed for the solution of such problems using collocation. This improved collocation method allows the use of a larger time discretization for the low-frequency dynamics of the motion, and a second finer time discretization scheme for the higher-frequency dynamics of the motion. The accuracy of the new method is demonstrated first on an example problem, an optimal lunar ascent. The method is then applied to the type of challenging problem for which it is designed, the optimization of the approach to landing trajectory for a winged vehicle returning from space, the HL-20 lifting body vehicle. The converged solution shows a realistic landing profile and fully captures the higher-frequency rotational dynamics. A source code using the sparse optimizer SNOPT is developed for the use of this method which generates constraint equations, gradients, and the system Jacobian for problems of arbitrary size. This code constitutes a much-improved tool for aerospace vehicle design but has application to all two-timescale optimization problems.