摘要：AbstractThis paper investigates the problem of implementing rate constraints when solving nonlinear optimal control problems with direct transcription methods. We generalize the approach of directly implementing rate constraints on the discretization mesh to all types of collocation methods (h, p and hp), for both state and input variables. This “on mesh” implementation replaces the additional dynamic equations and nonlinear path constraints in classical implementations with linear equations. Thus, there is no contribution to the Hessian and the contribution to the Jacobian can be precomputed, enabling faster iterations. Through an example, the benefits of the proposed approach are demonstrated, both in terms of obtaining singular arc-free solutions, as well as reductions in computation time of more than 20%.
