On the optimal control problems with characteristic time control constraints

<p style='text-indent:20px;'>In this paper, we consider a class of optimal control problems with constraints on set characteristic time instants. By applying the parameterization technique, these are imposed subdomains that contain points. The values functions as well lengths for their corresponding become decision variables. Time-scaling transformation is an effective technique to optimize length each subdomain in new horizon. However, instants original horizon variable horizon, and hence points difficult be formulated We propose surrogate condition show will satisfied once holds. Moreover, easy formulate resulting approximate problem can readily solved by many existing computational methods solving constrained problems. Finally, conclude paper two examples.</p>