资 源 简 介
PSOPT is an open source optimal control package written in C++ that uses direct collocation methods, which include pseudospectral as well as local discretizations. These methods solve optimal control problems by approximatimg the time-dependent variables using polynomials, which allows to discretize the differential equations and continuous constraints over a grid of nodes, and to compute any integrals associated with the problem using well known quadrature formulas.
Nonlinear programming then is used to find local optimal
solutions. PSOPT is able to deal with problems with the following characteristics:
Single or multiphase problems
Continuous time nonlinear dynamics
General endpoint constraints
Nonlinear path constraints
Integral constraints
Interior point constraints
Bounds on controls and state variables
General
