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Communication Dans Un Congrès Année : 2020

Bounds on time-optimal concatenations of arcs for two-input driftless 3D systems

Résumé

We study a driftless system on a three-dimensional manifold driven by two scalar controls. We assume that each scalar control has an independent bound on its modulus and we prove that, locally around every point where the controlled vector fields satisfy some suitable nondegeneracy Lie bracket condition, every time-optimal trajectory has at most five bang or singular arcs. The result is obtained using first-and second-order necessary conditions for optimality.
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Dates et versions

hal-02378196 , version 1 (25-11-2019)
hal-02378196 , version 2 (27-10-2020)

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Mario Sigalotti. Bounds on time-optimal concatenations of arcs for two-input driftless 3D systems. 21st IFAC World Congress, Jul 2020, Berlin / Virtual, Germany. ⟨hal-02378196v2⟩
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