Fuller singularities for generic control-affine systems with an even number of controls

DOI10.1137/19M1285305zbMATH Open1443.37066arXiv1909.01061OpenAlexW3020912839MaRDI QIDQ5111066FDOQ5111066

Francesco Boarotto, Mario Sigalotti, Yacine Chitour

Publication date: 26 May 2020

Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)

Abstract: In this article we study how bad can be the singularities of a time-optimal trajectory of a generic control affine system. In the case where the control is scalar and belongs to a closed interval it was recently shown in [6] that singularities cannot be, generically, worse than finite order accumulations of Fuller points, with order of accumulation lower than a bound depending only on the dimension of the manifold where the system is set. We extend here such a result to the case where the control has an even number of scalar components and belongs to a closed ball.

Full work available at URL: https://arxiv.org/abs/1909.01061

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zbMATH Keywords

geometric optimal controlgenericitychatteringcontrol-affine systems

Mathematics Subject Classification ID

Generic properties, structural stability of dynamical systems (37C20) Dynamical systems in control (37N35) Existence theories for optimal control problems involving ordinary differential equations (49J15) Geometric methods (93B27)

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Cited In (2)

• Optimal spiral-like solutions near a singular extremal in a two-input control problem
• On Singularities of Minimum Time Control-Affine Systems

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