Time Optimal 3D Trajectories for A Lighter Than Air Robot with second order constraints with a Piecewise Constant Acceleration

2013 ◽  
Vol 10 (4) ◽  
pp. 155-171 ◽  
Author(s):  
Yasmina Bestaoui ◽  
Elie Kahale
Keyword(s):  
Second Order ◽  
Constant Acceleration ◽  
Piecewise Constant ◽  
Order Constraints ◽  
Time Optimal

On the Efficiency of the SST Planner to Find Time Optimal Trajectories among Obstacles with a DDR under Second Order Dynamics

2021 ◽  
pp. 1-1
Author(s):  
Richard Fabian Arteaga ◽  
Emmanuel Antonio Cuevas ◽  
Israel Becerra ◽  
Rafael Murrieta-Cid
Keyword(s):  
Second Order ◽  
Optimal Trajectories ◽  
Time Optimal

scholarly journals A minimal time optimal control for a drone landing problem

2021 ◽  
Author(s):  
Filippo Gazzola ◽  
Elsa Maria Marchini
Keyword(s):  
Optimal Control ◽  
Initial Data ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Aerospace Engineering ◽  
Time Optimal Control ◽  
Height Velocity ◽  
The Moon ◽  
Piecewise Constant ◽  
Time Optimal

We study a variant of the classical safe landing optimal control problem in aerospace engineering, introduced by Miele in 1962, where the target was to land a spacecraft on the moon by minimizing the consumption of fuel. A more modern model consists in replacing the spacecraft by a hybrid gas-electric drone. Assuming that the drone has a failure and that the thrust (representing the control) can act in both vertical directions, the new target is to land safely by minimizing time, no matter of what the consumption is. In dependence of the initial data (height, velocity, and fuel), we prove that the optimal control can be of four different kinds, all being piecewise constant. Our analysis covers all possible situations, including the nonexistence of a safe landing strategy due to the lack of fuel or for heights/velocities for which also a total braking is insufficient to stop the drone.

First- and Second-Order Kinematics-Based Constraint System Analysis and Reconfiguration Identification for the Queer-Square Mechanism

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Xi Kang ◽  
Xinsheng Zhang ◽  
Jian S. Dai
Keyword(s):  
Configuration Space ◽  
Bilinear Form ◽  
System Analysis ◽  
Kinematic Model ◽  
Second Order ◽  
Constraint System ◽  
Lie Bracket ◽  
Geometric Conditions ◽  
Reconfigurable Mechanisms ◽  
Order Constraints

Reconfiguration identification of a mechanism is essential in design and analysis of reconfigurable mechanisms. However, reconfiguration identification of a multiloop reconfigurable mechanism is still a challenge. This paper establishes the first- and second-order kinematic model in the queer-square mechanism to obtain the constraint system by using the sequential operation of the Lie bracket in a bilinear form. Introducing a bilinear form to reduce the complexity of first- and second-order constraints, the constraint system with first- and second-order kinematics of the queer-square mechanism is attained in a simplified form. By obtaining the solutions of the constraint system, six motion branches of the queer-square mechanism are identified and their corresponding geometric conditions are presented. Moreover, the initial configuration space of the mechanism is obtained.

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