An improved shooting method for solving minimum-time maneuver problems

The minimum-time attitude maneuvers of a rigid spacecraft are considered. Generally, the associated nonsingular, nonlinear two-point boundary-value problem, derived by using Pontryagin's Maximum Principle, can be solved through shooting methods to find the switching times for the bang-bang control. However, a good initial guess for the missing initial costates is important because the convergence range of the initial costates is very narrow, especially when a multi-bang-bang control strategy is needed. This paper proposes a numerical approach to generate the initial costates so that they are very close to the converged values. The initial costates are first generated by using a recently developed quasi-linearization technique for the near-minimum-time problem and then reduced in magnitude, through some properly designed scales, before the shooting method is used. Numerical examples indicate the closeness of the results from these two techniques (quasi-linearization and shooting).