A Switching Time Optimization Strategy for Optimal Control Problems

The time-scaling transformation is a widely used approach within the computational framework of control parameterization for optimizing the switching times of control variables. However, the conventional time-scaling transformation has the limitation that the switching times and the number of switches for each control component must be the same. In this paper, we present a novel technique to solve constrained optimal control problems that allows for adaptively optimizing the switching times for each control component. Numerical results demonstrate that this proposed method provides better flexibility in control strategy and yields improved performance.