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A new numerical technique is presented for solving optimal control problems. This paper introduces a direct method that calculates optimal trajectories by discretizing the system dynamics using Galerkin numerical techniques and approximates the cost function with quadrature. We show that for bang-bang optimal control problems, discontinuous element-based Galerkin techniques lead to improved solution...
A new numerical technique is presented for solving optimal control problems. This paper introduces a direct method that calculates optimal trajectories by discretizing the system dynamics using Galerkin numerical techniques and approximates the cost function with quadrature. We show that a weak enforcement of boundary conditions leads to improved solution accuracies. Also, we show that the Galerkin...
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