离散力学最优轨迹实现技术 DMOC-Based Trajectory Generation Technique（英文版）

　　在人工智能技术广泛应用的时代，各种类型的飞行器和机器人将代替人执行多种任务。轨迹生成和路径规划对于这些具体任务的完成，在细节上具有至关重要的作用。本书包括离散力学*轨迹实现技术提出的背景意义、理论基础、应用步骤及结果分析。全书讨论了离散力学*控制理论在优化轨迹生成这一方向的相关研究成果，通过理论分析和仿真验证对这种优化轨迹生成方法进行了研究，并给出了此方法相对于其他主流方法的优势对比，举例说明了该技术针对一些代表性对象的实际应用结果。

　　张卫忠博士，江苏宜兴人。现任北京理工大学宇航学院飞行器控制系副主任。2009年毕业于美国路易斯维尔大学电气与计算机工程系，获得博士学位，并获Outstanding Graduate奖。2010年加入北京理工大学，主要研究领域为控制理论应用，导航、制导与控制。主持国家自然科学基金项目青年项目，参与国家自然科学基金面上项目及重大项目子课题等科研项目，发表研究论文多篇。

Chapter 1 Introduction
1.1 Motivation
1.2 Related Work
1.3 NTG and DMOC
1.4 Book Contributions
1.5 Book Outline
Chapter 2 Glider Trajectory Generation with NTG
2.1 Problem Definition
2.2 Glider Trajectory Generation
2.3 Ocean Current Model
2.3.1 2D B-spline Ocean Flows Model
2.3.2 3D B-spline Ocean Flows Model
2.4 Nonlinear Trajectory Generation
2.4.1 Cost Function
2.4.2 Constraints
2.5 Optimal Control of a Kinematical Glider
2.5.1 NTG Solution for 3D B-spline Ocean Flows Model
2.5.2 Comparison in the 2D and 3D B-spline Ocean Current Models
2.6 Optimal Control of a Dynamical Glider
2.6.1 Cost Function
2.6.2 Constraints
2.6.3 NTG Solutions for the Dynamic Glider
2.7 Animation of Glider and Ocean Current
2.8 Summary
Chapter 3 Aerobot Trajectory Generation with NTG
3.1 NASA JPL Aerobot
3.2 Euler-Lagrange Based Aerobot Trajectories
3.2.1 Euler-Lagrange Equations
3.2.2 Wind Profile
3.2.3 Problem Formulation
3.2.4 Simulated 3D Trajectory
3.3 State Space Model Based Trajectories
3.3.1 Problem Formulation
3.3.2 Simulated 3D Trajectories
3.4 Summary
Chapter 4 Trajectory Generation with DMOC
4.1 DMOC Methodology
4.2 DMOC Tutorial
4.2.1 IPOPT
4.2.2 AMPL
4.2.3 Implementation Details
4.2.4 An Application Example
4.3 Summary
Chapter 5 Comparison of DMOC and NTG
5.1 Discrete Mechanics and Optimal Control
5.1.1 Discrete Cost Function
5.1.2 Discrete Lagrange d’Alembert Principle
5.2 Nonlinear Trajectory Generation
5.2.1 Problem Formulation
5.2.2 Procedure in NTG
5.3 DMOC versus NTG
5.3.1 A Glider in the Simple Current Model
5.4 A Glider in the B-spline Ocean Model
5.5 Hovercraft Example
5.6 Summary
Chapter 6 Testbed Establishment
6.1 Testbed
6.2 Vicon Vision System
6.3 Real-Time Application
6.4 Summary
Chapter 7 Multiple Phase DMOC
7.1 Introduction
7.2 Problem Definition
7.3 Mutli-Phase DMOC
7.3.1 Formulation
7.3.2 Multi-Phase Strategy
7.4 Quadrotor Application Example
7.4.1 Quadrotor Model
7.5 Numerical Results
7.5.1 Trajectory Generation
7.6 Summary
Chapter 8 Conclusion and Future Work
8.1 Conclusion
8.2 Future Work
References
Appendix A NTG program for a glider in a B-spline ocean model
Appendix B NTG program for a JPL Aerobot
Appendix C DMOC program for a glider in a B-spline ocean model
Appendix D DMOC program for a JPL Aerobot
Appendix E MATLAB program for generating ODE45 trajectories
Appendix F Program to obtain realtime coordiates of a draganflyer