Solving mixed‐integer optimal control problems by branch&bound: a case study from automobile test‐driving with gear shift

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Mixed-integer nonlinear optimization*† (2013, background): “Recent applications include gear shifts in automotive control (Gerdts, 2005; Kirches et al., 2010), automated cruise controllers (Terwen et al.”
Reformulations and algorithms for the optimization of switching decisions in nonlinear optimal control (2009, methodology): “After a finite number kmax of refinements we freeze the optimal relaxed solution, T k = T k max and ΦREL Gk = ΦREL Gk max ∀ k > kmax. hold, then Algorithm 6.2 will terminate in a finite number of steps with a feasible binary solution, for which Φ∗ < ΦREL Gk + TOL holds.”
Time‐optimal control of automobile test drives with gear shifts (2010, methodology): “4 we compare our results and computing times to those given for this benchmark problem in [1] resp.”