Direct Transcription Solution of Optimal Control Problems with Differential Algebraic Equations with Delays

John T. Betts, Stephen L. Campbell, and Karmethia C. Thompson


DAEs, Optimal Control, Delays, Advances, Computation


Many physical systems are naturally modeled as differential algebraic equations or DAEs. Many physical systems also possess delays either in the dynamics or in the application of the control. Direct transcription is a popular approach in industry for numerically solving nondelayed optimal control problems because of its ability to handle problems with constraints. This paper reports on progress in developing an industrial strength direct transcription optimal control software package that can solve many problems with delays and DAE models. In particular, we focus in this paper on how the use of the DAE formalism allows for the consideration of a much greater variety of delays.}

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