TY - GEN
T1 - THE ADJOINT GRADIENT METHOD for TIME-OPTIMAL CONTROL of A MOON LANDING
T2 - ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2020
AU - Eichmeir, Philipp
AU - Nachbagauer, Karin
AU - Steiner, Wolfgang
N1 - Funding Information:
Karin Nachbagauer acknowledges support from the Austrian Science Fund (FWF): T733-N30.
Publisher Copyright:
Copyright © 2020 ASME.
Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2020
Y1 - 2020
N2 - This article illustrates a novel approach for the determination of time-optimal controls for dynamic systems under observance of end conditions. Such problems arise in robotics, e.g. if the control of a robot has to be designed such that the time for a rest-to-rest maneuver becomes a minimum. So far, such problems have been considered as two-point boundary value problems, which are hard to solve and require an initial guess close to the optimal solution. The aim of this contribution is the development of an iterative, gradient based solution strategy for solving such problems. As an example, a Moon-landing as in the Apollo program, will be considered. In detail, we discuss the ascent, descent and abort maneuvers of the Apollo Lunar Excursion Module (LEM) to and from the Moon's surface in minimum time. The goal is to find the control of the thrust nozzle of the LEM to minimize the final time.
AB - This article illustrates a novel approach for the determination of time-optimal controls for dynamic systems under observance of end conditions. Such problems arise in robotics, e.g. if the control of a robot has to be designed such that the time for a rest-to-rest maneuver becomes a minimum. So far, such problems have been considered as two-point boundary value problems, which are hard to solve and require an initial guess close to the optimal solution. The aim of this contribution is the development of an iterative, gradient based solution strategy for solving such problems. As an example, a Moon-landing as in the Apollo program, will be considered. In detail, we discuss the ascent, descent and abort maneuvers of the Apollo Lunar Excursion Module (LEM) to and from the Moon's surface in minimum time. The goal is to find the control of the thrust nozzle of the LEM to minimize the final time.
UR - http://www.scopus.com/inward/record.url?scp=85096328876&partnerID=8YFLogxK
U2 - 10.1115/DETC2020-22034
DO - 10.1115/DETC2020-22034
M3 - Conference contribution
AN - SCOPUS:85096328876
T3 - Proceedings of the ASME Design Engineering Technical Conference
BT - 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC)
PB - The American Society of Mechanical Engineers(ASME)
Y2 - 17 August 2020 through 19 August 2020
ER -