Minimum-time strong optimality of a singular arc: the multi-input non involutive case
Optimization and Control
2014-04-30 v1
Abstract
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.
Keywords
Cite
@article{arxiv.1404.7336,
title = {Minimum-time strong optimality of a singular arc: the multi-input non involutive case},
author = {Francesca Chittaro and Gianna Stefani},
journal= {arXiv preprint arXiv:1404.7336},
year = {2014}
}