A Control Parameterization Approach with Variable Time Nodes for Optimal Control Problems

摘要: This paper presents a novel computational approach to deal with optimal multivariable control problems using vector parameterization multiple time grids, where each of the variables has its own grid parametrization. Both parameters and nodes in partition are treated directly as be optimized. Based on derived relationship between gradients ones interval lengths, gradient formulae for presented. Compared existing approaches, which all parameterized same grid, proposed method is more general flexible. To illustrate, two numerical cases tested, results demonstrate that fewer needed achieve level optimization.