Time-Optimal Control of a Multidimensional Integrator Chain With Applications

Mirko Leomanni (1) , Gabriele Costante (1) , Francesco Ferrante (1)

1 UNIPG - Università degli Studi di Perugia = University of Perugia

This letter studies the time-optimal control problem for a chain of multidimensional integrators subject to convex state and input constraints. It is shown that, by performing a suitable change of variables, this problem can be cast as a single convex program for certain realizations of the boundary conditions. For general realizations, the problem is nonconvex. A constructive procedure based on the solution of a sequence of convex problems is proposed in order to approach asymptotically a global optimum. The proposed approach is demonstrated on three applications involving aerial and space vehicle systems.

Mots clés: Convex optimization; engineering applications; time-optimal control

Domaines: Automatique

Mirko Leomanni, Gabriele Costante, Francesco Ferrante. Time-Optimal Control of a Multidimensional Integrator Chain With Applications. IEEE Control Systems Letters, 2022, 6, pp.2371-2376. ⟨10.1109/LCSYS.2022.3154351⟩. ⟨hal-03613031⟩