A TFC-based homotopy continuation algorithm with application to dynamics and control problems

A method for solving zero-finding problems is developed by tracking homotopy paths, which define connecting channels between an auxiliary problem and the objective problem. Current algorithms' success highly relies on empirical knowledge, due to manually, inherently selected homotopy paths. This work introduces a homotopy method based on the Theory of Functional Connections (TFC). The TFC-based method implicitly defines infinite homotopy paths, from which the most promising ones are selected. A two-layer continuation algorithm is devised, where the first layer tracks the homotopy path by monotonously varying the continuation parameter, while the second layer recovers possible failures resorting to a TFC representation of the homotopy function. Compared to pseudo-arclength methods, the proposed TFC-based method retains the simplicity of direct continuation while allowing a flexible path switching. Numerical simulations illustrate the effectiveness of the presented method.