Vl. Coverstonecarroll et Nm. Wilkey, OPTIMAL-CONTROL OF A SATELLITE-ROBOT SYSTEM USING DIRECT COLLOCATION WITH NONLINEAR-PROGRAMMING, Acta astronautica, 36(3), 1995, pp. 149-162
The non-holonomic behavior of a satellite-robot system is used to deve
lop the system's equations of motion. The resulting non-linear differe
ntial equations are transformed into a non-linear programming problem
using direct collocation. The link rates of the robot are minimized al
ong optimal reorientations. Optimal solutions to several maneuvers are
obtained and the results are interpreted to gain an understanding of
the satellite-robot dynamics.