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Inversion in indirect optimal control of multivariable systems
Published online by Cambridge University Press: 20 March 2008
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.
- Type
- Research Article
- Information
- ESAIM: Control, Optimisation and Calculus of Variations , Volume 14 , Issue 2 , April 2008 , pp. 294 - 317
- Copyright
- © EDP Sciences, SMAI, 2008
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