Multiple shooting Method Solving two point boundary value problems (tm,sm) (t3,S3) (tm-lsm-i.m? 二一 t t2 t3 m-1 m-1 Simple shooting method Multiple shooting method Guess the missing states at t · Guess states at t, and and compare the integrated compare the integrated states states at t with terminal at tk+, with states at tKy constraints Numerically more stable Numerically unstable-errors Computationally expensive are amplified due to integration Space Systems Laboratory Massachusetts Institute of TechnologySpace Systems Laboratory Massachusetts Institute of Technology Multiple Shooting Method Multiple Shooting Method Solving two point boundary value problems tm-1 (t1,s1) (t2,s2) (t3,s3) (tm-1,sm-1) (tm,sm) x t t t t1 t2 t3 m m-1 (t1,s1) (tm,sm) x t t t1 t2 t3 m Simple shooting method Multiple shooting method • Guess states at tk and compare the integrated states at tk+1 with states at tk+1 • Numerically more stable • Computationally expensive • Guess the missing states at to and compare the integrated states at tf with terminal constraints • Numerically unstable - errors are amplified due to integration