An approximation scheme utilizing Bezier curves is considered for solving time-delayed optimal control problems with terminal inequality constraints. First, the problem is transformed, using a Páde approximation, to one without a time-delayed argument. Terminal inequality constraints, if they exist, are converted to equality constraints. A computational method based on Bezier curves in the time domain is then proposed for solving the obtained non-delay optimal control problem. Numerical examples are introduced to verify the efficiency and accuracy of the proposed technique. The findings demonstrate that the proposed method is accurate and easy to implement.

Keywords: Bezier curve, Pá,de approximation, optimal control problems, time-delay