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

Table 4

Summary of results for Example 6.2 using various collocation strategies and accuracy tolerances.

𝜂	Strategy	Approximate error	Collocation points	Elements	Mesh iterations	CPU time (s)
	𝑝	7.61𝑒−3	58	1	4	70.88
	ℎ𝑝^(1)-6	5.12𝑒−3	90	18	2	19.55
1𝑒−3	ℎ𝑝^(2)-6	3.55𝑒−3	70	12	3	18.05
	ℎ𝑝^(1)-4	6.81𝑒−3	113	32	4	32.55
	ℎ𝑝^(2)-4	4.19𝑒−3	83	18	4	19.66
	𝑝	9.17𝑒−4	75	1	12	88.94
	ℎ𝑝^(1)-6	4.08𝑒−4	151	29	6	33.76
1𝑒−4	ℎ𝑝^(2)-6	3.23𝑒−4	122	21	4	24.89
	ℎ𝑝^(1)-4	7.99𝑒−4	202	56	6	63.71
	ℎ𝑝^(2)-4	5.83𝑒−4	153	34	4	40.24
	𝑝	9.74𝑒−5	90	1	16	99.50
	ℎ𝑝^(1)-6	8.02𝑒−5	214	40	6	63.64
1𝑒−5	ℎ𝑝^(2)-6	7.50𝑒−5	183	32	5	53.44
	ℎ𝑝^(1)-4	8.93𝑒−5	293	70	5	89.46
	ℎ𝑝^(2)-4	7.69𝑒−5	251	51	5	84.88