Synthesis of subminimum-time bounded control of system of rigid bodies

An algorithm of control of a system of rigid bodies in a form of feedback in special coordinates is discussed. The control is bounded, and it is also subminimum-time in the sense that it coincides with the optimal in linear approximation and in the case of a system with one degree of freedom. It is shown that the controller endows the unperturbed motion of the system with the property of asymptotic stability in large and is also robust. The results of numerical experiments, demonstrating the closeness of the trajectories to the time-optimal ones, are presented.