Neighboring extremals of dynamic optimization problems with path equality constraints

Neighboring extremals of dynamic optimization problems with path equality constraints and with an unknown parameter vector are considered in this paper. With some simplifications, the problem is reduced to solving a linear, time-varying two-point boundary-value problem with integral path equality constraints. A modified backward sweep method is used to solve this problem. Two example problems are solved to illustrate the validity and usefulness of the solution technique. This research was supported in part by the National Aeronautics and Space Administration under NASA Grant No. NCC-2-106. The author is indebted to Professor A. E. Bryson, Jr., Department of Aeronautics and Astronautics, Stanford University, for many stimulating discussions.