For boxing constraint of control, trigonometric function transformation was developed to achieve an unconstrained problem.
对于控制变量受箱型约束的问题，采用三角函数转换将其转化为控制无约束问题。
For boxing constraint of control, trigonometric function transformation was developed to achieve an unconstrained problem.
对于控制变量受箱型约束的问题，采用三角函数转换将其转化为控制无约束问题。
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