An Algorithm for Time-Optimal Control Problems

[+] Author and Article Information
Reza Fotouhi-C., Walerian Szyszkowski

Mechanical Engineering Department, University of Saskatchewan, 57 Campus Drive, Saskatoon, Canada S7N 5A9

J. Dyn. Sys., Meas., Control 120(3), 414-418 (Sep 01, 1998) (5 pages) doi:10.1115/1.2805419 History: Received May 23, 1995; Online December 03, 2007


A numerical procedure to compute nonsingular, time-optimal solutions for nonlinear systems, which have fixed initial and final states, and are linear and bounded in control, is presented. Using the Pontryagin’s Minimum Principle, the corresponding nonlinear two-point boundary-value problem is formulated and solved by combination of the forward-backward and the shooting methods. The forward-backward procedure generates a good guess of the initial costates, which is crucial for the convergence of the shooting method. Numerical example of a two-link manipulator illustrates the proposed approach and the convergence of the procedure.

Copyright © 1998 by The American Society of Mechanical Engineers
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