A simple proof of the Pontryagin maximum principle on manifolds

DOI10.1016/J.AUTOMATICA.2011.01.037zbMATH Open1221.49029arXiv0905.1888OpenAlexW2082249535MaRDI QIDQ716154FDOQ716154

Authors: Dong Eui Chang 

Publication date: 19 April 2011

Published in: Automatica (Search for Journal in Brave)

Abstract: Applying the Tubular Neighborhood Theorem, we give a short and new proof of the Pontryagin Maximum Principle on a smooth manifold. The idea is as follows. Given a control system on a manifold $M$, we embed it into an open subset of some $mathbb{R}^n$, and extend the control system to the open set. Then, we apply the Pontryagin Maximum Principle on $mathbb{R}^n$ to the extended system and project the consequence to $M$.

Full work available at URL: https://arxiv.org/abs/0905.1888

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zbMATH Keywords

optimal controlPontryagin's maximum principletubular neighborhoodWhitney embedding

Mathematics Subject Classification ID

Variational problems in a geometric measure-theoretic setting (49Q20) Optimality conditions for problems involving ordinary differential equations (49K15)

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Cited In (14)

• Minimum \(L^\infty\) accelerations in Riemannian manifolds
• Alain Chenciner -- on his 70th birthday
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• Motion planning for a high order Dubins vehicle
• A simple proof of the discrete time geometric Pontryagin maximum principle on smooth manifolds
• Minimal time splines on the sphere
• On the dynamic Markov-Dubins problem: from path planning in robotics and biolocomotion to computational anatomy
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• On the proof of Pontryagin's maximum principle by means of needle variations
• Hybrid parametric minimum principle
• About simple variational splines from the Hamiltonian viewpoint
• Contact geometry of the Pontryagin maximum principle

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