Title :
The Markov-Dubins problem with angular acceleration control
Author :
Sussmann, HBctor J.
Author_Institution :
Dept. of Math., Rutgers Univ., New Brunswick, NJ, USA
Abstract :
We study a modified version of the well known Markov-Dubins problem, in which the control is angular acceleration rather than angular velocity. We show that an optimal trajectory cannot contain a junction of a bang-bang and a singular piece, and use the results of Zelikin and Borisov (1994) to show that there are Pontryagin extremals involving infinite chattering
Keywords :
acceleration control; maximum principle; multidimensional systems; state-space methods; Markov-Dubins problem; Pontryagin extremals; angular acceleration control; infinite chattering; maximum principle; minimum time trajectory; multidimensional systems; optimal control; state space; Acceleration; Angular velocity; Angular velocity control; Control systems; Electronic mail; Mathematics; Optimal control; Silicon carbide; State-space methods; Vehicle dynamics;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.657778
