Rotational controls and uniqueness of constrained viscosity solutions of Hamilton-Jacobi PDE

The classical inward pointing condition (IPC) for a control system whose state $x$ is constrained in the closure $C:=\bar\Omega$ of an open set $\Omega$ prescribes that at each point of the boundary $x\in \partial \Omega$ the intersection between the dynamics and the interior of the tangent space of $\bar \Omega$ at $x$ is nonempty. Under this hypothesis, for every system trajectory $x(.)$ on a time-interval $[0,T]$, possibly violating the constraint, one can construct a new system trajectory $\hat x(.)$ that satisfies the constraint and whose distance from $x(.)$ is bounded by a quantity proportional to the maximal deviation $d:=\mathrm{dist}(\Omega,x([0,T]))$. When (IPC) is violated, the construction of such a constrained trajectory is not possible in general. However, for a control system of the form $\dot{x}=f_1(x)u_1+f_2(x)u_2$, we prove in this paper that a "higher order" inward pointing condition involving Lie brackets of the dynamics' vector fields allows for a novel construction of a constrained trajectory $\hat x(.)$ whose distance from the reference trajectory $x(.)$ is bounded by a quantity proportional to $\sqrt{d}$. Our method requires a further assumption of non-positiveness of a sort of curvature and is based on the implementation of a suitable "rotating" control strategy. As an application, we establish the continuity up to the boundary of the value function $V$ of a classical optimal control problem, a continuity that allows to regard $V$ as the unique constrained viscosity solution of the corresponding Bellman equation.