Maneuvering Multibody Dynamics: New Developments for Models with Fast Solution Scales and Pilot-in-the-Loop Effects

The present paper focuses on trajectory optimization problems for multibody vehicle models, accounting for the presence of pilot-in-the-loop effects and fast dynamic components in the solution. The trajectory optimal control problem is solved through a direct approach by means of a novel hybrid single–multiple shooting method. Specific focus of the present work is the inclusion of pilot models in the optimization process, in order to improve the fidelity of the solution by considering the entire coupled human-vehicle system. In particular we investigate a series of maneuvers flown with helicopters, quantifying the performance loss due to human limitations of the pilot-vehicle system with respect to the sole vehicle case.