Construction of initial approximation and method of computing optimal control

A method of reducing computational cost in the course of the control is considered. It is based on subdividing the whole computational process into the computations performed beforehand and those that are carried on while the control takes place. A method of calculation of initial approximation is proposed. Used here are the quasi-optimal control and subdividing of the range of initial conditions into the attainability domains. The ways for finding the support hyperplane and for computing approximate values of the switching times and the time of translating the system under the time-optimal control are given. It is developed an iterative procedure that allows the integrating to be carried out only over the displacement intervals of the switching times and that of the control completion time. It is proved that the sequence of quasi-optimal controls converges to the optimal control. The radius of the local convergence at the quadratic rate is obtained. The evaluation of computational working time of the method is given. The computational algorithm and the results of numerical calculations are presented.