ИСТИНА

We propose a method for solving a point-to-point steering problem for affine control systems. We assume that a time interval is not fixed and should be found as well as a control law. The system in question is supposed to be non-differentially flat, therefore the problem cannot be solved by using the standard technique. Instead we assume that the system is partially feedback linearizable on some set containing boundary states. Partial feedback linearizability enables to reduce the problem to the point-to-point steering problem for a system with a linear controllable subsystem. We prove a sufficient condition for the existence of solutions to this problem and develop a numerical procedure to construct its solutions.