We propose a general approach to directly implement rate constraints on the discretization mesh for all collocation methods, for both state and input variables. Unlike conventional approaches that may lead to singular control arcs, the solution of this on-mesh implementation has better properties. Moreover, computational speedups of more than 30% can be achieved by exploiting the properties of the resulting linear constraint equations.

中文翻译：

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非线性优化控制的速率约束的有效实现

我们提出了一种通用方法，可以直接对所有搭配方法的离散化网格实施速率约束，包括状态变量和输入变量。与可能导致单一控制弧的传统方法不同，这种在网格上实现的解决方案具有更好的特性。此外，通过利用所得线性约束方程的特性，可以实现超过 30% 的计算加速。