The minimum time function with unbounded controls
Unlike in ``standard optimal control theory, in this paper the minimal time function \[ (t_0,x_0,k)\mapsto T(t_0,x_0,k)\in R\cup \{\infty\} \] assigns to each initial point \((t_0,x_0)\in R\times R^n\) and to each parameter \(k\in [0,K]\) the minimal time \(t_1-t_0\) in which \((t_0,x_0)\) is steered to a closed ``target \({\mathcal T}\subset R^n\) by a control system of the form \[ x'=f(t,x,v(t),\xi (t)), \;x(t_0)=x_0, \;v(t)\in V\subset R^q, \;\xi (t)\in C \subset R^m \] where \(V\) is compact (hence the first component \(v(.)\) of the control is essentially bounded) and \(C\subset R^m\) is a closed cone and the second component \(\xi (.)\) is assumed to be integrable and satisfy: \[ \int_{t_0}^{t_1}|\xi (t)|dt\leq K-k. \] Using the ``recession map \(f^\infty (t,x,v,w);=\lim_{r\to 0_+}f(t,x,v,w/r)r\) (which is assumed to exist and to have the same regularity properties as \(f\)), the associated vector field: \( \overline {f}(t,x,v,w_0,w):=f(t,x,v,w/w_0)\) if \(w_0\neq 0\) and \(\overline f(t, x,v,0,w)=f^\infty (t,x,v,w)\) and the ``extended system: \[ t'=w_0(s), \quad t(0)=t_0 , \quad w_0(s)\geq 0, \quad v(s)\in V \quad \text{a.e. }([0,1]), \] \[ x'=\overline f(t,x,v(s),w_0(s),w(s)), \quad x(0)=x_0, \quad w(s)\in C, \] the authors prove that under certain hypotheses, the minimal time function is continuous, is locally Lipschitz on its effective domain and it is also a viscosity solution of a Hamilton-Jacobi equation that is associated to the extended system.
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