Constrained optimal control of switched systems based on modified BFGS algorithm and filled function method

In this paper, we consider an optimal control problem of switched systems with a continuous-time inequality constraint. Because of the complexity of this constraint, it is difficult to solve this problem by standard optimization techniques. To overcome this difficulty, the problem is divided into a bi-level optimization problem involving a combination of a continuous-time optimal control problem and a discrete optimization problem. Then, a modified Broyden-Fletcher-Goldfarb-Shanno algorithm and a discrete filled function method is first proposed to solve this bi-level optimization problem. Finally, a numerical example is presented to illustrate the efficiency of our method.