What is it about?
Can we distribute 'robustness' between reference trajectory and the controllers? A systematic way to answer that question is proposed to come up with a mission design architecture that is inherently less conservative by optimizing robust trajectories with real-time robust feedback controllers based on contraction metrics.
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Why is it important?
Our unified optimization framework, incorporating stochastic trajectory optimization and Contraction Metrics, resulted in what we term "Contractive Optimal Control." This approach not only optimizes trajectories but also ensures robustness, a crucial factor in space missions. The advantages over traditional Contraction Metrics are noteworthy, particularly in its applicability to non-affine control systems, time-varying references, optimal design with predefined objectives, trade-off between optimality of reference trajectory and the controller and satisfaction of state constraints.
Perspectives
I hope this publication sparks curiosity and inspires fellow researchers to explore unconventional approaches in their respective domains. The journey we undertook was not just about advancing scientific knowledge but about redefining what was achievable. May this paper act as a catalyst and an inspiration for the academic community.
Akan Selim
Istanbul Technical University
Read the Original
This page is a summary of: Stochastic Trajectory and Robust Controller Optimization via Contractive Optimal Control, January 2024, American Institute of Aeronautics and Astronautics (AIAA),
DOI: 10.2514/6.2024-2069.
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