Efficient rotorcraft trajectory optimization using comprehensive models by improved shooting methods

The present paper focuses on trajectory optimization problems for complex first-principle models of rotorcraft vehicles, accounting for the presence of slow and fast dynamic components in the solution. The maneuver optimal control problem is solved through a direct approach by means of a novel hybrid single-multiple shooting method. The capabilities of the proposed procedures are illustrated with the help of an application regarding the estimation of the H–V diagram of a tilt-rotor.