shooting method for trajectory optimization

overview

• single shooting
• multiple shooting

离散控制量,根据状态方程通过积分求得状态量

$$\begin{aligned}\min_{u^0 \cdots u^t}&\quad \sum(J(x^t)) \\ s.t. & \quad x^{t+1} = f(x^t, u^t)\end{aligned}$$

Note: - multiple shooting求解会更容易一点，对初始误差不会特别敏感