Singular trajectories in multi-input time-optimal problems: Application to controlled mechanical systems

M. Chyba, Naomi Ehrich Leonard, E. D. Sontag

Research output: Contribution to journalArticle

18 Scopus citations

Abstract

This paper deals with the time-optimal control problem for a class of control systems which includes controlled mechanical systems with possible dissipation terms. The Lie algebras associated with such mechanical systems have certain special properties. These properties are explored and used in conjunction with the Pontryagin maximum principle to determine the structure of singular extremals and, in particular, time-optimal trajectories. The theory is illustrated by an application to a time-optimal problem for a class of underwater vehicles.

Original languageEnglish (US)
Pages (from-to)103-129
Number of pages27
JournalJournal of Dynamical and Control Systems
Volume9
Issue number1
DOIs
StatePublished - Jan 1 2003

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Algebra and Number Theory
  • Numerical Analysis
  • Control and Optimization

Keywords

  • Controlled mechanical systems
  • Maximum principle
  • Singular extremals
  • Time-optimal problem

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