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Direct optimal control methods are used to obtain the time minimal trajectory for a race circuit. All states, controls, and the 5 gear switching structure of the dynamic model are completely subject to optimization. The race circuit (Nürburgring) is modeled with two cubic splines for the center line as well as the width of the track. The discrete gear choices are modeled using the outer convexification...
Dynamic systems often have discrete controls or discrete decisions involved. Discrete Controls can only take values from a fixed set. At the same time, the choice of such controls introduces discrete changes in constraints. For instance, the discrete flap positions on an aircraft have discrete speed constraints. This paper describes a method for taking into account discrete controls in an optimal...
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