About solving hybrid optimal control problems

The main objective of this paper is to discuss numerical difficulties in solving hybrid optimal control problems and to propose a multiple phase-multiple shooting formulation for hybrid optimal control design. Such a formulation allows to solve directly the problem using nonlinear programming techniques. In the case of switched systems, it is shown that the switching rule can be obtained in a direct way avoiding combinatory explosion. Keywords— Hybrid systems, Optimal Control, Algorithms, NLP.

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