Optimal control of a satellite-robot system using direct collocation with non-linear programming

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The non-holonomic behavior of a satellite-robot system is used to develop the system's equations of motion. The resulting non-linear differential equations are transformed into a non-linear programming problem using direct collocation. The link rates of the robot are minimized along optimal reorientations. Optimal solutions to several maneuvers are obtained and the results are interpreted to gain an understanding of the satellite-robot dynamics.

Original languageEnglish (US)
Pages (from-to)149-162
Number of pages14
JournalActa Astronautica
Issue number3
StatePublished - Aug 1995


ASJC Scopus subject areas

  • Aerospace Engineering

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