摘要: An efficient algorithm, called the time-optimal switching (TOS) is proposed for control of nonlinear systems with a single input. The problem formulated in arc times space, being durations arcs. A feasible control, or as special case bang-bang found using STC method previously developed by authors to get from an initial point target given number switchings. Then, means constrained optimization techniques, cost considered summation times, minimum-time solution obtained. Example applications TOS algorithm involving second-order and third-order are presented. Comparisons made well-known general optimal software package demonstrate efficiency algorithm.
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