Convergence of the shooting algorithm for singular optimal control problems

Abstract

In this article we propose a shooting algorithm for optimal control problems governed by systems that are affine in one part of the control variable. Finitely many equality constraints on the initial and final state are considered. We recall a second order sufficient condition for weak optimality, and show that it guarantees the local quadratic convergence of the algorithm. We show an example and solve it numerically.

This article will appear in the Proceedings of the European Control Conference to be held in Zurich, Switzerland, 2013