建立非线性等式和不等式约束规划问题的一个序列二次规划(sqp)型算法。

An algorithm of successive quadratic programming (SQP) type is presented to program problems with nonlinear equality and inequality constraints.

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利用直接打靶法，将此最优控制模型转化为非线性规划问题，并采用序列二次规划算法进行解算。

By using direct shooting method, the associated optimization was converted into a nonlinear programming problem, which was solved through a sequential quadratic programming solver.

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