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

DOI10.1007/978-3-030-38603-0_25zbMATH Open1472.49008arXiv1906.03901OpenAlexW3172742727MaRDI QIDQ1982912FDOQ1982912

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

Publication date: 14 September 2021

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.

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

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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)

Cited In (5)

• Regular path-constrained time-optimal control problems in three-dimensional flow fields
• Nonlocal Optimization Methods for Nonlinear Controlled Systems with Terminal Constraints
• Minimal Time Vessel Routing in a Time-Dependent Environment
• Stable computation of the optimal path for a boat on a water stream and its applications
• Deterministic Minimal Time Vessel Routing

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