Direct Shooting Method for Numerical Optimal Control: A Modified Transcription Approach
<|reference_start|>Direct Shooting Method for Numerical Optimal Control: A Modified Transcription Approach: Direct shooting is an efficient method to solve numerical optimal control. It utilizes the Runge-Kutta scheme to discretize a continuous-time optimal control problem making the problem solvable by nonlinear programming solvers. However, conventional direct shooting raises a contradictory dynamics issue when using an augmented state to handle {high-order} systems. This paper fills the research gap by considering the direct shooting method for {high-order} systems. We derive the modified Euler and Runge-Kutta-4 methods to transcribe the system dynamics constraint directly. Additionally, we provide the global error upper bounds of our proposed methods. A set of benchmark optimal control problems shows that our methods provide more accurate solutions than existing approaches.<|reference_end|>
@article{tang2024direct,
    title={Direct Shooting Method for Numerical Optimal Control: A Modified
  Transcription Approach},
    author={Jiawei Tang, Yuxing Zhong, Pengyu Wang, Xingzhou Chen, Shuang Wu, and
  Ling Shi},
    journal={arXiv preprint arXiv:2403.06167},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.06167},
    primaryClass={eess.SY cs.SY}
}