  In this paper a framework for solving the time optimal control (TOC) using
Galerkin's Weighted Residuals Method (GWRM) and Sequential Convex Programming
(SCP) is proposed. The proposed method solves the two-point boundary value
problem, avoiding the use of shooting methods that rely heavily on the
appropriate initialization of the adjoint state and optimal time. Since TOC
yields an open-loop controller, a Model Predictive Control (MPC) scheme is
employed to track both the optimal trajectory and controller, allowing the
system to reject disturbances. The approach is validated using the Dubins' car
dynamics for optimal time trajectory generation.

Systems and Control;Systems and Control