Approximate solution of a control problem on the basis of the nilpotent approximation

We consider the control problem for deterministic systems described by ordinary differential equations with linear controls. On the basis of the nilpotent approximation method, we construct an algorithm for finding an approximate solution of the control problem for three-dimensional nonlinear systems with two linear controls. The algorithm was implemented in Maple and tested in examples including the control of a mobile robot on a plane and the attitude control of a sphere rolling on a plane.