Sequential linear programming for design of time-optimal controllers

This paper presents a sequential linear programming approach for the determination of time-optimal controller for nonlinear systems. The sequential linear programming solution is used to update the control profile so as to satisfy the terminal conditions for an assumed maneuver time. A univariant minimization approach which brackets the optimal value of the maneuver time, such as the bisection algorithm is used in an outer loop to converge to the minimum time. The proposed technique is illustrated on two benchmark problems: the attitude control of a spacecraft and the minimum time control of a robot.