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arXiv · 1404.7336

Minimum-time strong optimality of a singular arc: the multi-input non involutive case

Francesca Chittaro·Gianna Stefani
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Abstract

We consider the minimum-time problem for a multi-input control-affine system, where we assume that the controlled vector fields generate a non-involutive distribution of constant dimension, and where we do not assume a-priori bounds for the controls. We use Hamiltonian methods to prove that the coercivity of a suitable second variation associated to a Pontryagin singular arc is sufficient to prove its strong-local optimality. We provide an application of the result to a generalization of Dubins problem.

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Francesca Chittaro, Gianna Stefani. 2014-04-29. Minimum-time strong optimality of a singular arc: the multi-input non involutive case. https://arxiv.org/abs/1404.7336

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