Geometry of optimal control for control-affine systems

DOI10.3842/SIGMA.2013.034MaRDI QIDQ352511zbMATH OpenWikidataFDO

Authors Christopher G. Moseley, George R. Wilkens, Jeanne N. Clelland

Publication date 4 July 2013

Published in SIGMA. Symmetry, Integrability and Geometry: Methods and Applications (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1206.1101

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zbMATH Keywords

affine distributionsCartan's method of equivalencegeodesic trajectorieslocal isometric invariantsoptimal control theoryPontryagin's maximum principle

Mathematics Subject Classification ID

Optimality conditions for problems involving ordinary differential equations (49K15) (G)-structures (53C10) Sub-Riemannian geometry (53C17) Exterior differential systems (Cartan theory) (58A15) Geometric methods (93B27)

Abstract: Motivated by the ubiquity of control-affine systems in optimal control theory, we investigate the geometry of point-affine control systems with metric structures in dimensions two and three. We compute local isometric invariants for point-affine distributions of constant type with metric structures for systems with 2 states and 1 control and systems with 3 states and 1 control, and use Pontryagin's maximum principle to find geodesic trajectories for homogeneous examples. Even in these low dimensions, the behavior of these systems is surprisingly rich and varied.

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