Chattering extremals in control-affine stabilization problems (Q6986432)

In the article, the problem of stabilization of systems that are affine in control and nonlinear in phase variables is considered in a concise form. The Hamiltonian system of the Pontryagin maximum principle in the vicinity of a special second-order extremal is investigated. A theorem on the existence of chattering extremals reaching a certain extremal in a finite time is formulated, and a scheme for its proof is given for the case of systems with two degrees of freedom. It is argued that this theorem guarantees the existence of chattering extremals in the feedback stabilization problem for a nonlinear system consisting of a beam rotating in the middle and a ball that can roll along this beam, while the known theorems are not applicable to this problem. The article may be of interest to specialists in the theory of optimal control and applications.