A pseudo-spectral method with flexible sub-intervals for dynamic optimization problems achieves tight polynomial bounds, rigorous inequality enforcement, and up to tenfold lower relative cost than non-flexible discretizations.
An Introduction to Trajectory Optimization: How to Do Your Own Direct Collocation
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Tight Bounds on Polynomials and Its Application to Dynamic Optimization Problems
A pseudo-spectral method with flexible sub-intervals for dynamic optimization problems achieves tight polynomial bounds, rigorous inequality enforcement, and up to tenfold lower relative cost than non-flexible discretizations.