{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/time-optimal-control-for-high-order-chain-of","title":"Time-Optimal Control for High-Order Chain-of-Integrators Systems with Full State Constraints and Arbitrary Terminal States (Extended Version)","arxiv_id":"2311.07039","date":"2023-11-13","proceeding":null,"authors":["Yunan Wang","Chuxiong Hu","Zeyang Li","Shize Lin","Suqin He","Yu Zhu"],"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 paper 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 paper 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 non-chattering 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.","url_abs":"https://arxiv.org/abs/2311.07039v4","url_pdf":"https://arxiv.org/pdf/2311.07039v4.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"time-optimal-control-for-high-order-chain-of","repo_url":"https://github.com/wangy18/manifoldinterceptmethod","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"trajectory-planning","task_name":"Trajectory Planning"}],"methods":[{"method_slug":"mim","method_name":"MIM"}],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}