Smoothing Method For Nonlinear Optimal Control Problems With Inequality Path Constraints

A novel smoothing method based on control vector parameterization technique for solving nonlinear optimal control problems with inequality constraints is developed in this paper. The proposed algorithm discretizes the original nonlinear optimal control problem by using parametization quadratic penalty function and smoothing function. The nonlinear optimal control problems with inequality path constraints can be converted into vector parameterization by adjusting penalty factors. The equivalence of the transformation for optimal control problem with inequality path constraints is proved. The theorems show the proposed smoothing method for nonlinear optimal control problems is effective.