A method using successive linear approximations over partitioned time intervals achieves finite-time reachability for constrained nonlinear systems despite partial loss of control.
Time-optimal control of a multidimensional integrator chain with applications
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Finite-time Reachability for Constrained, Partially Uncontrolled Nonlinear Systems
A method using successive linear approximations over partitioned time intervals achieves finite-time reachability for constrained nonlinear systems despite partial loss of control.