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首页> 外文会议>International Conference on Intelligent Human-Machine Systems and Cybernetics >An Adaptive Collocation Method and Mesh Refinement for Solving Non-smooth Trajectory Optimization Problems
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An Adaptive Collocation Method and Mesh Refinement for Solving Non-smooth Trajectory Optimization Problems

机译：求解非光滑轨迹优化问题的自适应配置方法和网格细化

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摘要

Due to the large errors and collocation points of the traditional pseudospectral method for solving the optimal control problem, an adaptive mesh refinement and collocation points method is proposed. First, divide the optimization problem into different meshes, use the Lagrange interpolation method to approximate the optimization problem in each mesh, and then calculate the discrete errors. Based on the discrete errors, divide the maximum error of the mesh into two equal meshes and increase the collocation points for the rest meshes, which does not meet the tolerance, to improve the accuracy of the solution. The simulation results show that the number of collocation points and meshes are smaller, and the efficiency is higher than the traditional method.
机译：由于传统伪谱方法存在较大的误差和配置点，无法解决最优控制问题，因此提出了一种自适应网格细化和配置点方法。首先，将优化问题划分为不同的网格，使用拉格朗日插值法对每个网格中的优化问题进行近似，然后计算离散误差。根据离散误差，将网格的最大误差划分为两个相等的网格，并增加不满足公差的其余网格的并置点，以提高求解精度。仿真结果表明，与传统方法相比，配置点和网格的数量更少，效率更高。

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