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We study fast expansions of cold atoms in a three-dimensional Gaussian-beamoptical trap. Three different methods to avoid final motional excitation arecompared: inverse engineering using Lewis-Riesenfeld invariants, which providesthe best overall performance, a bang-bang approach, and a fast adiabaticapproach. We analyze the excitation effect of anharmonic terms,radial-longitudinal coupling, and radial-frequency mismatch. In the inverseengineering approach these perturbations can be suppressed or mitigated byincreasing the laser beam waist.

Fast transitionless expansions of cold atoms in optical Gaussian beam traps