Mesh refinement method for solving optimal control problems with nonsmooth solutions using jump function approximations

A mesh refinement method is described for solving optimal control problems using Legendre-Gauss-Radau collocation. The detects discontinuities in the solution by employing an edge detection scheme based on jump function approximations. When are identified, refined with a targeted h-refinement approach whereby discontinuity locations bracketed points. remaining smooth portions of previously developed techniques. demonstrated two examples, and results indicate that solves discontinuous solutions fewer iterations less computation time when compared methods.