Tube Stochastic Optimal Control for Nonlinear Constrained Trajectory Optimization Problems
Abstract
Recent low-thrust space missions have highlighted the importance of designing trajectories that are robust against uncertainties. In its complete form, this process is formulated as a nonlinear constrained stochastic optimal control problem. This problem is among the most complex in control theory, and no practically applicable method to low-thrust trajectory optimization problems has been proposed to date. This paper presents a new algorithm to solve stochastic optimal control problems with nonlinear systems and constraints. The proposed algorithm uses the unscented transform to convert a stochastic optimal control problem into a deterministic problem, which is then solved by trajectory optimization methods such as differential dynamic programming. Two numerical examples, one of which applies the proposed method to low-thrust trajectory design, illustrate that it automatically introduces margins that improve robustness. Finally, Monte Carlo simulations are used to evaluate the robustness and optimality of the solution.
Cite
@article{arxiv.2202.12158,
title = {Tube Stochastic Optimal Control for Nonlinear Constrained Trajectory Optimization Problems},
author = {Naoya Ozaki and Stefano Campagnola and Ryu Funase},
journal= {arXiv preprint arXiv:2202.12158},
year = {2022}
}