On Optimal Control Problems with Nonregular Mixed Constraints

Necessary optimality conditions for optimal control problems with mixed constraints are known when some regular conditions are satisfied. However, the nonregular case has received little attention although some interesting problems, including those involving sweeping systems and some problems arising from robotics, can be easily formulated as problems with nonregular mixed constraints. In this work we study and discuss necessary conditions for optimal control problems with nonregular mixed constraints.