Optimizer Algorithms for Supervisory Control : Enabling Supervisor Input: (SUPEROPT D2)

This document reports the methods developed by the SUPEROPT project for supervisor interaction with optimizers. Two mathematical forms for an optimizer to support a Multi-Sector Controller are presented and compared, including various constraint forms to enable flexible but intuitive supervisor input. Enabling supervisor input to the optimization ensures the supervisor retains control of the high-level decision making while leaving the optimizer to perform the low-level detailed trajectory design.