Using the novel idea of the control parametrization enhancing technique, the minimum time problem is transformed to optimal parameter selection problem and can hence be readily solved with SQP method.

• 针对待求解的是使时间最短的动态优化问题这一难点，采用了改进的控制参数化法将原问题转化为参数最优问题，并根据问题的规模与特点选择了SQP法求解参数最优这一非线性规划问题。