FFSM trajectory optimization via multiphase Gauss pseudospectral method

Based on the multiphase Gauss pseudospectral method, this paper presents a new optimal control method to solve the nonholonomic trajectory planning of the free-floating space manipulator (FFSM) system. The general case of path planning problem with constraints is formulated as a standard multiphase Bolza problem. Accuracy is improved by increasing degree of the polynomial approximation in particular mesh intervals based on the relative errors of states. Numerical simulation results demonstrate that the proposed method is effective and available for solving the FFSM trajectory optimization problem.