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Article Dans Une Revue ESAIM: Control, Optimisation and Calculus of Variations Année : 2008

Inversion in indirect optimal control of multivariable systems

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François Chaplais
Nicolas Petit

Résumé

This paper presents the role of vector relative degree in the formulation of stationarity conditions of optimal control problems for affine control systems. After translating the dynamics into a normal form, we study the Hamiltonian structure. Stationarity conditions are rewritten with a limited number of variables. The approach is demonstrated on two and three inputs systems, then, we prove a formal result in the general case. A mechanical system example serves as illustration.

Dates et versions

hal-00449297 , version 1 (21-01-2010)

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François Chaplais, Nicolas Petit. Inversion in indirect optimal control of multivariable systems. ESAIM: Control, Optimisation and Calculus of Variations, 2008, 14 (2), pp.294 - 317. ⟨10.1051/cocv:2007054⟩. ⟨hal-00449297⟩
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