On an approach to solving optimal control problems with terminal constraints

The perturbation approach for the numerical solution of nonlinear optimal control problems with terminal inequality-type constraints is considered. It is based on the construction of perturbed relations characterizing the optimality conditions and control improvement. The proposed iterative perturbation methods have the property of nonlocality of successive control approximations and the absence of a procedure for parametric search for an improving approximation at each iteration, which is typical for well-known standard gradient-type methods.