采用牛顿迭代保辛伪谱算法的舰载机甲板路径规划

建立单机滑行、离轴无杆牵引、离轴有杆牵引3类舰载机调运模式下的运动学模型. 考虑到有杆牵引系统运动学模型的强非线性，将其转化为一个更加简单的虚拟在轴无杆牵引系统，以便于轨迹的求解. 综合考虑调运效率和安全性，将3类调运模式的轨迹规划问题转化为时间-能量混合最优问题. 为了实现对非线性最优控制问题的高效求解，基于第三类生成函数、辛理论和伪谱离散提出保辛伪谱方法（SPM），并根据终端横截条件采用牛顿迭代和SPM确定终端时间. 将提出的方法应用于3类调运模式的轨迹规划问题，并将所得结果与直接伪谱法进行对比. 仿真结果表明：所提算法能够以更高的精度和效率规划出平滑的舰载机路径，且不会出现非可行解，具有更强的可操作性和适用性.

Trajectory planning for carrier aircraft on deck using Newton Symplectic pseudo-spectral method

The kinematic models for three dispatch modes of carrier aircraft were established, including individually taxiing, off-axle hitching towing without drawbar, and off-axle hitching towing with drawbar. As the high nonlinearity in the kinematics, a towing system with drawbar was transformed into a simpler virtual on-axle hitching towing system so as to facilitate the trajectory planning. Considering the dispatch efficiency and security, the trajectory planning problems of three dispatch modes were formulated as time-energy hybrid optimal control problems. To solve the nonlinear optimal control problem efficiently, a Symplectic pseudo-spectral method (SPM) was firstly developed based on the third kind of generating function, Symplectic theory and pseudo-spectral discretization. Then the Newton iteration and the SPM were used to determine the optimal terminal time according to the terminal transversality condition. The developed method was applied to solve trajectory planning problems of three dispatch modes, and the direct pseudo-spectral method was implemented for comparison. The simulation results suggest that the developed method can generate smooth dispatch trajectories with higher accuracy and efficiency, where no infeasible solution occurs, leading to better operability and applicability.