Tamer Inanc received his B.S. degree in Electrical Engineering from Dokuz Eylul University, Izmir, Turkey in 1991. He received his M.S. and Ph.D degrees in Electrical Engineering from Penn State University in 1994 and 2002, respectively. He was a postdoctoral scholar at Control and Dynamical Systems Department at Caltech, Pasadena, CA between 2002 and 2004. He became an Assistant Professor at Electrical and Computer Engineering Department at University of Louisville in 2004. He is currently Associate Professor at the same department.
- Ph.D. in Electrical Engineering, The Pennsylvania State University, 2002
- M.S. in Electrical Engineering, The Pennsylvania State University, 1996
- B.S. in Electrical & Electronics Engineering, Dokuz Eylul University, 1991
Discrete mechanics and optimal control (DMOC) is a methodology that takesadvantage of variational structure to solve certain optimal control problems formechanical systems. This paper proposes to combine a multiphase strategy withthe original DMOC method, resulting in a new multiphase DMOC (MDMOC)method and making optimal trajectory generation more efficient. The advantagesof the proposed method are demonstrated mathematically, and in addition, aquadrotor, unmanned aerial vehicle, simulation example is presented to show itssuperiority over the DMOC method. Furthermore, to show its potential application,an arbitrarily chosen controller was used to track the desired trajectory generated byMDMOC. This new MDMOC methodology can also be applied to other mechanicalsystems such as mobile robots and underwater gliders.