Robust Fuel Optimal Trajectory Planning and Feedback Control for Constrained Linear Systems Under State- and Control-Dependent Perturbations

Abstract

We consider the problem of simultaneous open-loop trajectory design and feedback gain co-design to develop an algorithm for robustly-constrained trajectory optimization for linear time-varying systems with state- and control-dependent perturbations. This extends our previous work (Sheridan and Açıkmeşe, 2022; 2023) to handle optimization of feedback gains to minimize the effect of external perturbations. This could have applications in, e.g., vehicle design, by allowing trajectory optimization techniques to be fed back into the vehicle design phase, informing guidance, navigation, and control system requirements. We also present a numerical simulation demonstrating the practicality of our methods.