An Efficient Finite Difference Method for The Time‐Delay Optimal Control Problems With Time‐Varying Delay

In this paper, an efficient finite difference method is presented for the solution of time-delay optimal control problems with time-varying delay in the state. By using the Pontryagin's maximum principle, the original time-delay optimal control problem is first transformed into a system of coupled two-point boundary value problems involving both delay and advance terms. Then the derived system is converted into a system of linear algebraic equations by using a second-order finite difference formula and a Hermite interpolation polynomial for the first-order derivatives and delay terms, respectively. The convergence analysis of the proposed approach is provided. The new scheme is also successful for the optimal control of time-delay systems affected by external persistent disturbances. Numerical examples are included to demonstrate the validity and applicability of the new technique. Some comparative results are included to illustrate the effectiveness of the proposed method.