Optimal chattering feedback control (Q1873559)

A standard solution scheme for optimal control problems (o.c.p.) is based on Pontryagin's maximum principle which reduces the solution of an o.c.p. to the solution of a Hamiltonian system with discontinuous right-hand side. For affine problems with single input, the Hamiltonian system has a tangential discontinuity, i.e., the jump of the phase velocity lies in the tangent plane to the switching surface. To solve the system by a standard method of integration from terminal manifold, one encounters key obstacles while passing through the Fuller point because of the lack of a time interval on which the right-hand side of the differential equation remains continuous. To overcome this difficulty, the authors developed a technique of resolution of singularities which is applied to the exploration of singularities in various codimensions. In two previous papers Zelikin and Borisov proved that the codimension set of Fuller is greater or equal to 3 and does not exceed 7. In this paper there are studied singularities corresponding to these codimensions. Other important results concerning the construction of a Lagrangean manifold for the system of Pontryagin's maximum principle are given.