scientific article; zbMATH DE number 1143872
constrained control systemsFilippov-Ważewski theoremMangasarian-Fromowitz type conditionsrelaxed controls
Implicit ordinary differential equations, differential-algebraic equations (34A09) Ordinary differential inclusions (34A60) Control problems involving ordinary differential equations (34H05) Existence theories for optimal control problems involving ordinary differential equations (49J15) Existence of solutions for minimax problems (49J35) Methods involving semicontinuity and convergence; relaxation (49J45)
The authors study the closure of the solution set of the control system \[ x'(t)= f(t, x(t), u(t)),\quad u(t)\in U,\tag{1} \] where \(t\in[t_0, T]\), \(x\in\mathbb{R}^n\), \(U\) is a subset of a complete separable metric space \(Z\), \(f: [t_0,T]\times \mathbb{R}^n\times Z\to \mathbb{R}^n\) and the trajectory-control pairs are subject to the constraints \[ h(t, x(t),u(t))\leq 0,\quad g(t,x(t),u(t))= 0\quad\text{a.e. in }[t_0,T],\tag{2} \] where \(h: [t_0, T]\times \mathbb{R}^n\times Z\to \mathbb{R}^m\) and \(g:[t_0, T]\times \mathbb{R}^n\times Z\to \mathbb{R}^p\). First, it is stated that under some Mangasarian-Fromowitz type conditions on \(h\) and \(g\) as well as Lipschitz type conditions on \(h\), \(g\) and \(f\), the closure of the solutions to (1), (2) starting at \(x_0\) is compact equal to the set of the solutions to \[ x'\in\overline{\text{co}} f(t, x,U(t,x)),\quad x(t_0)= x_0, \] where \(U(t, x)= \{u\in U: h(t, x, u)\leq 0,\;g(t, x, u)= 0\}\). If \(U\) is a closed subset of the finite-dimensional space \(Z= \mathbb{R}^m\), then for similar conditions the same conclusion is proved as above. Finally, the special case is considered when the control-trajectories pairs are subject to the constraints \[ x\in\overline\theta,\quad h(t, x, u)\leq 0,\quad g(t,x,u)= 0, \] where \(\theta\subseteq \mathbb{R}^n\) is an open subset and \(\theta\) is control-independent. If \(F(t, x)\dot= f(t,x,U(t,x))\) is Lipschitzian in compact subsets of \([t_0, T]\times \mathbb{R}^n\) with compact values and verifies other supplementary conditions, then it is proved that the closure of the solutions to (1), (2) is compact equal to the set of the solutions to the \[ x'\in\overline{\text{co}} f(t, x,U(t,x)),\quad x(t_0)= x_0,\quad x(t)\in \theta. \] We remark that the above results can be presented in terms of relaxed controls.
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