The minimum time function for the controlled Moreau's sweeping process

DOI10.1137/15M1043364MaRDI QIDQ2818186zbMATH OpenFDO

Authors Giovanni Colombo, Michele Palladino

Publication date 6 September 2016

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

Full work available at URL https://arxiv.org/abs/2003.14060

zbMATH Keywords

differential inclusiondynamic programmingHamilton-Jacobi inequalitiesminimal time functionMoreau sweeping processnormal coneone-sided Lipschitz dynamicsset-valued mapstrong invarianceweak invariance

Mathematics Subject Classification ID

Ordinary differential inclusions (34A60) Nonsmooth analysis (49J52) Set-valued and variational analysis (49J53) Optimality conditions for problems involving relations other than differential equations (49K21) Dynamic programming in optimal control and differential games (49L20) Regularity of solutions in optimal control (49N60)

Abstract: Let $C(t)$, $tgeq0$ be a Lipschitz set-valued map with closed and (mildly non-)convex values and $f(t,x,u)$ be a map, Lipschitz continuous w.r.t. $x$. We consider the problem of reaching a target $S$ within the graph of $C$ subject to the differential inclusion [ (star)qquad dot{x} in -N_{C(t)}(x) + G(t,x) ] starting from $x_{0}inC(t_0)$ in the minimum time $T(t_0,x_0)$. The dynamics $(star)$ is called a perturbed sweeping (or Moreau) process. We give sufficient conditions for $T$ to be finite and continuous and characterize $T$ through Hamilton-Jacobi inequalities. Crucial tools for our approach are characterizations of weak and strong flow invariance of a set $S$ subject to $(star)$. Due to the presence of the normal cone $N_{C(t)}(x)$, the right hand side of $(star)$ contains implicitly the state constraint $x(t)inC(t)$ and is not Lipschitz continuous with respect to $x$.

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