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In this paper, a novel direct scheme to solve a set of time-delay fractional optimal control problems is introduced. The method firstly uses a set of Dickson polynomials as basis functions to approximate the states and control variables of the system. Next, the context of these basis functions and the use of a collocation method allow to transform the problem into a system of nonlinear algebraic equations. Finally, the unknown coefficients and control parameters in the original problem can be easily estimated by resolving the new system of equations. Given the high efficiency of the Dickson polynomials to deal with time-delay fractional systems, the proposed strategy involves a very tunable framework for direct trajectory optimization, according to the discretization procedure and the range of arbitrary nodes. The convergence analysis of the proposed method is presented, along with some illustrative examples which …