SHOOT2.0: An indirect grid shooting package for optimal control problems, with switching handling and embedded continuation
نویسندگان
چکیده
The shoot2.0 package implements an indirect shooting method for optimal control problems. It is speci cally designed to handle control discontinuities, with an automatic switching detection that requires no assumptions concerning the number of switchings. Special care is also devoted to the computation of the Jacobian matrix of the shooting function, using the variational system instead of classical nite di erences. The package also features an embedded continuation method and an automatic (parallel) grid shooting in order to reduce the dependency to the initialization. Key-words: optimal control, shooting method, Pontryagin's Principle, control switchings ∗ INRIA Saclay and CMAP, Ecole Polytechnique, [email protected] † Université de Toulouse, [email protected] in ria -0 05 17 51 5, v er si on 2 15 S ep 2 01 0 SHOOT2.0: An indirect grid shooting package for optimal control problems, with switching handling and embedded continuation Résumé : The shoot2.0 package implements an indirect shooting method for optimal control problems. It is speci cally designed to handle control discontinuities, with an automatic switching detection that requires no assumptions concerning the number of switchings. Special care is also devoted to the computation of the Jacobian matrix of the shooting function, using the variational system instead of classical nite di erences. The package also features an embedded continuation method and an automatic (parallel) grid shooting in order to reduce the dependency to the initialization. Mots-clés : optimal control, shooting method, Pontryagin's Principle, control switchings in ria -0 05 17 51 5, v er si on 2 15 S ep 2 01 0 SHOOT2.0: An indirect grid shooting package 3
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