An Integrated Multicriterion hp-Adaptive Pseudospectral Method for Direct Optimal Control Problems Solving

Table 2

Summary of results for Example 6.1 using various collocation strategies and accuracy tolerances.

𝜂	Strategy	Approximate error	Collocation points	Elements	Mesh iterations	CPU time (s)
	𝑝	9.23𝑒−2	203	1	50	197.36
	ℎ𝑝^(1)-5	6.51𝑒−2	366	72	8	66.90
1𝑒−2	ℎ𝑝^(2)-5	2.92𝑒−2	269	52	8	25.49
	ℎ𝑝^(1)-3	5.03𝑒−2	337	102	10	49.67
	ℎ𝑝^(2)-3	1.89𝑒−2	244	68	9	21.08
	𝑝	—	—	—	—	—
	ℎ𝑝^(1)-5	8.63𝑒−3	478	93	8	91.85
1𝑒−3	ℎ𝑝^(2)-5	4.10𝑒−3	347	66	7	42.93
	ℎ𝑝^(1)-3	6.45𝑒−3	436	125	11	82.72
	ℎ𝑝^(2)-3	2.17𝑒−3	329	87	9	39.80
	𝑝	—	—	—	—	—
	ℎ𝑝^(1)-5	7.14𝑒−4	614	119	9	117.22
1𝑒−4	ℎ𝑝^(2)-5	6.59𝑒−4	426	75	8	66.08
	ℎ𝑝^(1)-3	6.97𝑒−4	565	152	11	107.79
	ℎ𝑝^(2)-3	3.86𝑒−4	407	108	10	56.16