Kh. Wong et al., Control parametrization method for free planning time optimal control problems with time-delayed arguments, NONLIN ANAL, 47(8), 2001, pp. 5679-5689
A control parametrization method is used to solve a class of time optimal c
ontrol problems with constant time-delay. A sequence of optimization proble
ms is generated and appropriate convergence results are shown. The method i
s illustrated with a numerical example.