Time-Optimal Synthesis for Left-Invariant Control Systems on SO(3)

Publication date 15 September 2005

Abstract: Consider the control system given by

d o t x = x (f + u g)

, where

x i n S O (3)

,

| u | l e q 1

and

f, g i n s o (3)

define two perpendicular left-invariant vector fields normalized so that

| f | = c o s (a l)

and

| g | = s i n (a l)

,

a l i n] 0, p i / 4 [

. In this paper, we provide an upper bound and a lower bound for

N (a l p h a)

, the maximum number of switchings for time-optimal trajectories. More precisely, we show that

N_{S} (a l) l e q N (a l) l e q N_{S} (a l) + 4

, where

N_{S} (a l)

is a suitable integer function of

a l

which for

a l o 0

is of order

p i / (4 a l p h a) .

The result is obtained by studying the time optimal synthesis of a projected control problem on

R P^{2}

, where the projection is defined by an appropriate Hopf fibration. Finally, we study the projected control problem on the unit sphere

S^{2}

. It exhibits interesting features which will be partly rigorously derived and partially described by numerical simulations.

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