Numerical solution of the time-delayed optimal control problems with hybrid functions

We consider an approximation scheme using hybrid functions for solving time-delayed optimal control problems with terminal inequality constraints. Using a Pade approximation, the problem is first transformed into one without a time-delayed argument. A computational method based on hybrid functions in time-domain is then proposed for solving the obtained non-delay optimal control problem. Hybrid functions integral operational matrix and direct collocation method are utilized to find the approximated optimal trajectory and the optimal control law of the original problem. Numerical results are also given to demonstrate the efficiency of the method.