摘要：This paper looks into implementation of numerical optimal control problems of systems with a cascade structure, in which only one part of the dynamic equality constraints has path constraints. We consider two different direct strategies for numerical implementation using direct methods: 1. Collocation for both parts of the cascade. 2. Direct collocation for one part and single shooting for the other. To compare the methods we study the case of iceberg monitoring using a single unmanned aerial vehicle. The study reveals that the second method, under some conditions can be more computationally efficient than the first method.
