# Quadrotor (binary variant)

From mintOC

Quadrotor (binary variant) | |
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State dimension: | 1 |

Differential states: | 6 |

Discrete control functions: | 4 |

Interior point equalities: | 6 |

This site describes a Quadrotor helicoptor problem variant where the continuous control is replaced via outer convexification with binary controls.

## Mathematical formulation

The mixed-integer optimal control problem is given by

## Parameters

These fixed values are used within the model.

## Reference Solutions

If the problem is relaxed, i.e., we demand that is in the continuous interval rather than being binary, the optimal solution can be determined by means of direct optimal control.

The optimal objective value of the relaxed problem with is . The objective value of the solution with binary controls obtained by Combinatorial Integral Approximation (CIA) is .