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 realtime coordiates of a draganflyer
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