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Quadratic Optimal Control of Linear Complementarity Systems: First order necessary conditions and numerical analysis

Alexandre Vieira 1 Bernard Brogliato 1 Christophe Prieur 2
1 TRIPOP [2020-....] - Modélisation, simulation et commande des systèmes dynamiques non lisses [2020-....]
Inria Grenoble - Rhône-Alpes, LJK [2020-....] - Laboratoire Jean Kuntzmann [2020-....]
2 GIPSA-INFINITY [2020-....] - GIPSA - Infinite Dimensional Dynamics [2020-....]
GIPSA-PAD [2020-....] - GIPSA Pôle Automatique et Diagnostic [2020-....]
Abstract : This article is dedicated to the analysis of quadratic optimal control of linear complementarity systems (LCS), which are a class of strongly nonlinear and nonsmooth dynamical systems. Necessary first-order conditions are derived, that take the form of an LCS with inequality constraints, hence are numerically tractable. Sufficiency is proved in a specific sense. Numerical examples illustrate the theoretical developments and demonstrate the efficiency of the complementarity approach.
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Submitted on : Wednesday, April 18, 2018 - 10:11:56 AM
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Alexandre Vieira, Bernard Brogliato, Christophe Prieur. Quadratic Optimal Control of Linear Complementarity Systems: First order necessary conditions and numerical analysis. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2020, 65 (6), pp.2743-2750. ⟨10.1109/TAC.2019.2945878⟩. ⟨hal-01690400v3⟩

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