Computing feasible trajectories for constrained maneuvering systems: the PVTOL example
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Abstract: In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting itself in understanding the capabilities of the system in its operating region, and represents a preliminary tool to perform trajectory tracking in presence of constraints. The strategy relies on three main tools: dynamic embedding, constraints relaxation and novel optimization techniques, introduced in [10,12], to find regularized solutions for point-wise constrained optimal control problems. The strategy is applied to the PVTOL, a simplified model of a real aircraft that captures the main features and challenges of several "maneuvering systems".
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