A direct collocation method for the numerical solution of multi-phase optimal control problems in systems of ordinary differential equations

Problem Class

optimal control problems of systems of ordinary differential equations, boundary value problems, general state and control constraints, multi-phase problems

Numerical Method

direct collocation method (piecewise polynomial approximation of state and control variables, SQP method)

Programming Language

FORTRAN 77, ANSI C

Interface Provided

a stand-alone program, input/output by files and problem dependent subroutines, visualization of computed trajectories

Examples of Applications

trajectory optimization of air and space vehicles, robot trajectory optimization, optimal design of microwave oscillators and others

More Information

references, documentation, user's guide, source code