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Inversion in indirect optimal control of multivariable systems

Abstract : 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.
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https://hal-mines-paristech.archives-ouvertes.fr/hal-00449297
Contributor : François Chaplais <>
Submitted on : Thursday, January 21, 2010 - 11:03:10 AM
Last modification on : Thursday, September 24, 2020 - 5:04:18 PM

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

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