Asymptotics of accessibility sets along an abnormal trajectory

DOI10.1051/COCV:2001115MaRDI QIDQ4331443zbMATH OpenOpenAlexFDO

Authors Emmanuel Trélat

Publication date 16 May 2002

Published in ESAIM: Control, Optimisation and Calculus of Variations (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/math/0607425, http://www.numdam.org/item?id=COCV_2001__6__387_0, https://eudml.org/doc/90599

zbMATH Keywords

normal formsub-Riemannian geometrybounded controlend-point mappingabnormal trajectoryaccessibilty setsingle-input affine control systemspectral analytic tools

Mathematics Subject Classification ID

Optimality conditions for problems involving ordinary differential equations (49K15) Attainable sets, reachability (93B03) Canonical structure (93B10)

Abstract: We describe precisely, under generic conditions, the contact of the accessibility set at time $T$ with an abnormal direction, first for a single-input affine control system with constraint on the control, and then as an application for a sub-Riemannian system of rank 2. As a consequence we obtain in sub-Riemannian geometry a new splitting-up of the sphere near an abnormal minimizer $gamma$ into two sectors, bordered by the first Pontryagin's cone along $gamma$, called the $xLinfty$-sector and the $xLtwo$-sector. Moreover we find again necessary and sufficient conditions of optimality of an abnormal trajectory for such systems, for any optimization problem.

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Cited in

(9)

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• Conic distributions and accessible sets
• On the role of abnormal minimizers in sub-Riemannian geometry
• Min-max and min-min Stackelberg strategies with closed-loop information structure
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• Constraint algorithm for extremals in optimal control problems
• Optimal control and applications to aerospace: some results and challenges
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