Pseudospectral Knotting Methods for Solving Optimal Control Problems

@article{Ross2004PseudospectralKM,
  title={Pseudospectral Knotting Methods for Solving Optimal Control Problems},
  author={I. Michael Ross and Fariba Fahroo},
  journal={Journal of Guidance Control and Dynamics},
  year={2004},
  volume={27},
  pages={397-405}
}
A class of computational methods for solving a wide variety of optimal control problems is presented; these problems include nonsmooth, nonlinear, switched optimal control problems, as well as standard multiphase problems. Methods are based on pseudospectral approximations of the differential constraints that are assumed to be given in the form of controlled differential inclusions including the usual vector field and differential-algebraic forms. Discontinuities and switches in states… 

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