Minimum-time strong optimality of a singular arc: the multi-input non involutive case
We consider the minimum-time problem for a multi-input control-affine system, where we assume that the controlled vector fields generate a non-involutive distribution of constant dimension, and where we do not assume a-priori bounds for the controls. We use Hamiltonian methods to prove that the coer...
Gespeichert in:
Hauptverfasser: | , |
---|---|
Format: | Artikel |
Sprache: | eng |
Schlagworte: | |
Online-Zugang: | Volltext bestellen |
Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
Zusammenfassung: | We consider the minimum-time problem for a multi-input control-affine system,
where we assume that the controlled vector fields generate a non-involutive
distribution of constant dimension, and where we do not assume a-priori bounds
for the controls. We use Hamiltonian methods to prove that the coercivity of a
suitable second variation associated to a Pontryagin singular arc is sufficient
to prove its strong-local optimality. We provide an application of the result
to a generalization of Dubins problem. |
---|---|
DOI: | 10.48550/arxiv.1404.7336 |