A method of solving boundary-value problems for a non-linear control system allowing for delay in the control action

An algorithm is developed for constructing a control function that guarantees that a wide class of non-linear control systems, described by ordinary differential equations, is transferred from an initial state into a specified final state, allowing for constraints on the system and a delay in the control signal. A constructive criterion is found for the choice of the final states and the value of the delay in the control signal for which the above transfer is possible. An interorbital flight problem is studied as an example and is modelled numerically.