Switching in time-optimal problem: the 3D case with 2D control

DOI10.1007/S10883-016-9342-7MaRDI QIDQ2404237zbMATH OpenOpenAlexFDO

Authors Carolina Biolo, A. A. Agrachev

Publication date 18 September 2017

Published in Journal of Dynamical and Control Systems (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1605.05232

zbMATH Keywords

Lie bracketsswitchingtime optimal control

Mathematics Subject Classification ID

Existence of optimal solutions belonging to restricted classes (Lipschitz controls, bang-bang controls, etc.) (49J30)

Abstract: We study local structure of time-optimal controls and trajectories for a 3-dimensional control-affine system with a 2-dimensional control parameter with values in the disk. In particular, we give sufficient conditions, in terms of Lie bracket relations, for optimal controls to be smooth or to have only isolated jump discontinuities.

Review text

The time-optimal problem for the 3D affine control system with controls restricted in the unit disk is studied. It is shown that any time-optimal trajectory contained in a small neighborhood of a point in the system manifold (except a discrete subset of ``bad points) is bang-bang with no more than one switching. Sufficient conditions are provided, in terms of the Lie brackets of vector fields, determining whether the time-optimal controls are smooth or present isolated jump discontinuities. For the latter case, the jumps at the switching point are expressed in terms of Lie bracket relations.

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Cited in

(9)

• On the minimum time problem for driftless left-invariant control systems on \(SO(3)\).
• Neighborhood of the second-order singular regime in problems with control in a disk
• On switching properties of time optimal controls for linear ODEs
• Optimality of broken extremals
• Switching in time-optimal problem with control in a ball
• On the time-optimality of bang-bang trajectories in 𝐑³
• scientific article; zbMATH DE number 618018 (Why is no real title available?)
• On singularities of minimum time control-affine systems
• Time-Optimal Synthesis for Left-Invariant Control Systems on SO(3)

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