Optimal Control: Direct Solution Methods

This lecture covers the basics of numerical optimal control, focusing on direct solution methods such as direct single shooting, direct multiple shooting, and collocation with Legendre polynomials. The instructor discusses the importance of problem formulation, scaling of input and state variables, and the use of toolboxes like CASADI for solving optimal control problems. Various concepts like time transformation, input rate constraints, and scaling dynamics are explained in detail, along with practical tips for successful problem solving. The lecture emphasizes the need for understanding underlying concepts to confidently tackle optimal control problems.