Inverse-dynamics particle swarm optimization for real time optimal control: Challenges and opportunities

The paper described the most recent advances in the development of the Inverse-dynamics Particle Swarm Optimization technique for determining approximate solutions to constrained optimal control problems. Near-optimal solutions are searched for using a differential flatness approach such that the kinematic of the problem is directly approximated whereas the dynamics is given by a generic non-linear combination of successive time-derivatives of the state. Numerical results are presented evaluating the proposed technique with a constrained reorientation maneuver of a spacecraft already considered in literature. A rest-to-rest slew maneuver is considered where an optical sensor cannot be exposed to sources of bright light such as the Earth, the Sun and the Moon. It is established that the computation of minimum time, minimum fuel and minimum energy maneuvers with the proposed technique leads to near optimal solutions, which fully satisfy all the boundary and path constraints. The rapid convergence characterizes the proposed technique as a feasible future on-board path-planner for terrestrial and space applications.