Regularization of Chattering Phenomena via Bounded Variation Controls

DOI10.1109/TAC.2018.2810540zbMATH Open1423.49037arXiv1303.5796OpenAlexW2963774831WikidataQ130191108 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)

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.

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)

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• A variational convergence that yields chattering systems
• Value function for regional control problems via dynamic programming and Pontryagin maximum principle
• Method for solving bang-bang and singular optimal control problems using adaptive Radau collocation
• Loss control regions in optimal control problems
• Control of multi-agent systems: results, open problems, and applications
• Chattering variational limits of control systems†
• Approximation of chattering arcs in optimal control problems governed by mono-input affine control systems
• Turnpike property in optimal microbial metabolite production
• A solution framework for linear PDE-constrained mixed-integer problems
• \(\mathrm{L}^1\)-optimality conditions for the circular restricted three-body problem
• The Switch Point Algorithm
• Optimal spiral-like solutions near a singular extremal in a two-input control problem
• Infimum gaps for limit solutions
• Time-optimal trajectories of generic control-affine systems have at worst iterated Fuller singularities

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