GPOPS-II

A general-purpose MATLAB software program called GPOPS--II is described for solving multiple-phase optimal control problems using variable-order Gaussian quadrature collocation methods. The software employs a Legendre-Gauss-Radau quadrature orthogonal collocation method where the continuous-time optimal control problem is transcribed to a large sparse nonlinear programming problem (NLP). An adaptive mesh refinement method is implemented that determines the number of mesh intervals and the degree of the approximating polynomial within each mesh interval to achieve a specified accuracy. The software can be interfaced with either quasi-Newton (first derivative) or Newton (second derivative) NLP solvers, and all…

• UD
  U.S. Department of Defense
• DA
  Defense Advanced Research Projects Agency

  Award: HR0011-12-C-0011
• AR
  Advanced Research Projects Agency
• OO
  Office of Naval Research

  Awards: N00014-11-1-0068, N00014