Direct multiple shooting for computationally efficient train trajectory optimization

Computationally Efficient Techniques for Structural Optimization

The objective of this paper is to investigate the efficiency of combinatorial optimization methods and in particular algorithms based on evolution strategies, when incorporated into structural optimization problems. Evolution strategies algorithms are used either on a stand-alone basis, or combined with a conventional mathematical programming technique. Furthermore, the structural analysis phas...

Direct and indirect methods for trajectory optimization

This paper gives a brief list of commonly used direct and indirect efficient methods for the numerical solution of optimal control problems. To improve the low accuracy of the direct methods and to increase the convergence areas of the indirect methods we suggest a hybrid approach. For this a special direct collocation method is presented. In a hybrid approach this direct method can be used in ...

Efficient Direct Multiple Shooting for Nonlinear Model Predictive Control on Long Horizons

We address direct multiple shooting based algorithms for nonlinear model predictive control, with a focus on problems with long prediction horizons. We describe different efficient multiple shooting variants with a computational effort that is only linear in the horizon length. Proposed techniques comprise structure exploiting linear algebra on the one hand, and approximation of derivative info...

Complementary Condensing for the Direct Multiple Shooting Method

In this contribution we address the efficient solution of optimal control problems of dynamic processes with many controls. Such problems typically arise from the convexification of integer control decisions. We treat this problem class using the direct multiple shooting method to discretize the optimal control problem. The resulting nonlinear problems are solved using an SQP method. Concerning...

Direct multiple shooting method for solving approximate shortest path problems