About performance improvement of evolutionary strategies technique applied to optimal control problem indirect method

The optimal control problem for nonlinear dynamic systems is considered. The proposed approach is based on both partially analytical and partially numerical techniques of the optimal control problem solving. Optimal control problem is reduced to unconstrained extremum problem, which is related to seeking for the initial point of the co-state variables that would satisfy the boundaries. To solve the optimization problem, well-known global optimization techniques are suggested and compared. The performance of the evolutionary strategies algorithm was increased by implementing the special restarting condition in the scheme.