Time-optimal control problem with state constraints in a time-periodic flow field

DOI10.1007/978-3-030-38603-0_25MaRDI QIDQ1982912zbMATH OpenOpenAlexFDO

Authors Nathalie T. Khalil, R. A. Chertovskih, Fernando Lobo Pereira

Publication date 14 September 2021

Full work available at URL https://arxiv.org/abs/1906.03901

zbMATH Keywords

optimal controlstate constraintsshooting methodindirect methodtwo-point boundary value problemsmaximum principle in Gamkrelidze formtrajectory-planning

Mathematics Subject Classification ID

Existence theories for optimal control problems involving relations other than differential equations (49J21) Numerical methods in optimal control (49M99)

Abstract: This article contributes to a framework for a computational indirect method based on the Pontryagin maximum principle to efficiently solve a class of state constrained time-optimal control problems in the presence of a time-dependent flow field. Path-planning in a flow with tidal variations is an emblematic real-life task that serves as an example falling in the class of problems considered here. Under rather natural assumptions on the flow field, the problem is regular and the measure Lagrange multiplier, associated with the state constraint, is continuous. These properties (regularity and continuity) play a critical role in computing the field of extremals by solving the two-point boundary value problem given by the maximum principle. Moreover, some sufficient conditions preventing the emergence of singular control processes are given. A couple of examples of time-periodic fluid flows are studied and the corresponding optimal solutions are found.

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(8)

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• Energy-time optimal path planning in dynamic flows: theory and schemes
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