Infinite horizon sparse optimal control (Q2359778)

A class of infinite horizon optimal control problems with \(L^p\) cost functionals \((0<p\leq1)\) in the controls is studied. The existence of an optimal control for the full nonlinear dynamics is proved for the convex case \(p=1\), while for the nonconvex case \(0<p<1\) the existence is proved for the special case of affine controls. The sparsity structure of optimal control, favored by the nonsmooth cost functionals, is subsequently analyzed using first order optimality conditions. The presented concepts are illustrated with an analytical example of Eikonal dynamics with \(L^1\) cost, and several numerical examples involving the same system as well as a nonlinear system for both the convex and nonconvex cases are given.