Approximate Lagrange multiplier convergence for secant-function-augmented SOPICs

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Let Si≤0S_i\leq 0 be the ii-th scalar-only path inequality constraint (SOPIC), let ηi\eta_i be its Lagrange multiplier, let Pi≤1P_i\leq 1 be the equivalent rescaling of the constraint, and let ρi\rho_i be the secant-penalty weight. The approximate multiplier is defined by

η~i=−ρisec⁡(π2Pi)Si.\tilde{\eta}_i=-\frac{\rho_i\sec\left(\frac{\pi}{2}P_i\right)}{S_i}.

Approximate multiplier convergence conjecture. Under the direct-adjoining and secant-function-augmentation formulations, η~i\tilde{\eta}_i approaches ηi\eta_i as ρi→0\rho_i\to 0:

η~i⟶ηi.\tilde{\eta}_i\longrightarrow\eta_i.

The approximation is motivated by equating the corresponding Hamiltonians and is intended to satisfy the complementarity slackness conditions. The paper reports only empirical verification, using DIDO solutions to retrieve ηi\eta_i; no rigorous equivalence or convergence proof is provided, so the conjecture remains open.

References

Primary source

Nicholas P. Nurre and Ehsan Taheri, “Constrained Fuel and Time Optimal 6DOF Powered Descent Guidance Using Indirect Optimization”, arXiv:2501.14173 (2025).

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