Strict abnormal extremals in nonholonomic and kinematic control systems
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hdl:2117/2100
Tipus de documentArticle
Data publicació2008-06
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Reconeixement-NoComercial-SenseObraDerivada 2.5 Espanya
Abstract
In optimal control problems, there exist different kinds of
extremals, that is, curves candidates to be solution:
abnormal, normal and strictly abnormal. The key point for
this classification is how those extremals depend on the
cost function. We focus on control systems such as
nonholonomic control mechanical systems and the associated
kinematic systems as long as they are equivalent.
With all this in mind, first we study conditions to relate
an optimal control problem for the mechanical system with
another one for the associated kinematic system. Then,
Pontryagin's Maximum Principle will be used to connect the
abnormal extremals of both optimal control problems.
An example is given to glimpse what the abnormal solutions
for kinematic systems become when they are considered as
extremals to the optimal control problem for the
corresponding nonholonomic mechanical systems.
CitacióBarbero Liñán, M.; Muñoz Lecanda, M.C. Strict abnormal extremals in nonholonomic and kinematic control systems. "Discrete and continuous dynamical systems. Series S (paper)", Juny 2008, vol. 3, núm. 1, p. 1-17.
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TexasNonholonomic.pdf | Article principal | 242,1Kb | Visualitza/Obre |