Regularization of Chattering Phenomena via Bounded Variation Controls

DOI10.1109/TAC.2018.2810540zbMATH Open1423.49037OpenAlexW2963774831WikidataQ130191108 ScholiaQ130191108MaRDI QIDQ4682249FDOQ4682249

Authors Marco Caponigro, R. Ghezzi, B. Piccoli, Emmanuel Trélat 

Publication date 18 September 2018

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1303.5796

Mathematics Subject Classification ID

Regularity of solutions in optimal control (49N60) Optimality conditions for problems involving relations other than differential equations (49K21)

Abstract: In control theory, the term chattering is used to refer to strong oscillations of controls, such as an infinite number of switchings over a compact interval of times. In this paper we focus on three typical occurences of chattering: the Fuller phenomenon, referring to situations where an optimal control switches an infinite number of times over a compact set; the Robbins phenomenon, concerning optimal control problems with state constraints, meaning that the optimal trajectory touches the boundary of the constraint set an infinite number of times over a compact time interval; the Zeno phenomenon, referring as well to an infinite number of switchings over a compact set, for hybrid optimal control problems. From the practical point of view, when trying to compute an optimal trajectory, for instance by means of a shooting method, chattering may be a serious obstacle to convergence. In this paper we propose a general regularization procedure, by adding an appropriate penalization of the total variation. This produces a quasi-optimal control, and we prove that the family of quasi-optimal solutions converges to the optimal solution of the initial problem as the penalization tends to zero. Under additional assumptions, we also quantify the quasi-optimality property by determining a speed of convergence of the costs.

Cited in

(15)

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• Method for solving bang-bang and singular optimal control problems using adaptive Radau collocation
• Infimum gaps for limit solutions
• Control of multi-agent systems: results, open problems, and applications
• Turnpike property in optimal microbial metabolite production
• Chattering variational limits of control systems†
• A variational convergence that yields chattering systems
• Fractional power rate reaching law for augmented sliding mode performance
• Time-optimal trajectories of generic control-affine systems have at worst iterated Fuller singularities
• Approximation of chattering arcs in optimal control problems governed by mono-input affine control systems
• \(\mathrm{L}^1\)-optimality conditions for the circular restricted three-body problem

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