Our team designed and implemented MATLAB guidance algorithms for rockets operating under mechanical and system load constraints. The trajectory optimization approach we developed is based on the AL-iLQR method, extended to incorporate quaternion dynamics and rigid-body physics. We chose this method for its ability to enforce waypoint constraints through the augmented Lagrangian framework while computing gradients efficiently. The solver was applied in both 2D and 3D space. I worked on simulating trajectories and testing edge cases in the software to reduce overhead for DDP.
3D Trajectory
3D Control-Time Graph
2D Trajectory
2D Position-Time Graph
