On the time transformation of mixed integer optimal control problems using a consistent fixed integer control function (Q507341)

Nonlinear control systems with instantly changing dynamical behavior can be modeled by introducing an additional control function that is integer valued in contrast to a control function that is allowed to have continuous values. The discretization of a mixed integer optimal control problem (MIOCP) leads to a non-differentiable optimization problem and the non-differentiability is caused by the integer values. The paper is about a time transformation method that is used to transform a MIOCP with integer-dependent constraints into an ordinary optimal control problem. Differentiability is achieved by replacing a variable integer control function with a fixed integer control function and a variable time allows to change the sequence of active integer values. So-called control consistent fixed integer control functions are taken into account here. It is shown that these control consistent fixed integer control functions allow a better accuracy in the resulting trajectories, in particular in the computed switching times. The method is verified on analytical and numerical examples.