We consider the minimum time problem for a multi-input control-affine system. We assume that the Lie algebra generated by the controlled vector fields is two-step bracket-generating. 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 and dodgem car problems. © 2013 IEEE.
Minimum-time strong optimality of a singular arc : extended Dubins problem / Chittaro, F; Stefani, S. - (2013), pp. 1798-1803. ( 52nd IEEE Conference on Decision and Control, CDC 2013 Firenze 10-13 Dec. 2013) [10.1109/CDC.2013.6760143].
Minimum-time strong optimality of a singular arc : extended Dubins problem
Chittaro F;
2013-01-01
Abstract
We consider the minimum time problem for a multi-input control-affine system. We assume that the Lie algebra generated by the controlled vector fields is two-step bracket-generating. 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 and dodgem car problems. © 2013 IEEE.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione
