Dynamic optimization with complementarity constraints: Smoothing for direct shooting

Adrian Caspari, Lukas Lüken, Pascal Schäfer, Yannic Vaupel, Adel Mhamdi, Lorenz T. Biegler, Alexander Mitsos

Abstract: Highlights•Dynamic optimization problems with state-dependend complementarity constraints solved using direct shooting for the first time.•Theoretical analysis for well-posedness of nonsmooth and smoothed DAE•Approach scales as good as existing approaches with DAE size and scales not with control variable intervals.•Approach applied for small and medium scale case studies.