Time-Optimal Control for High-Order Chain-of-Integrators Systems With Full State Constraints and Arbitrary Terminal States

Abstract

Time-optimal control for high-order chain-of-integrators systems with full state constraints and arbitrarily given terminal states remains a challenging problem in the optimal control theory domain, yet to be resolved. To enhance further comprehension of the problem, this article establishes a novel notation system and theoretical framework, providing the switching manifold for high-order problems in the form of switching laws. Through deriving properties of switching laws regarding signs and dimension, this article proposes a definite condition for time-optimal control. Guided by the developed theory, a trajectory planning method named the manifold-intercept method (MIM) is developed. The proposed MIM can plan time-optimal jerk-limited trajectories with full state constraints, and can also plan near-optimal nonchattering higher order trajectories with negligible extra motion time compared to optimal profiles. Numerical results indicate that the proposed MIM outperforms all baselines in computational time, computational accuracy, and trajectory quality by a large gap.