Singular Trajectories of Control-Affine Systems
نویسندگان
چکیده
منابع مشابه
Singular Trajectories of Control-Affine Systems
When applying methods of optimal control to motion planning or stabilization problems, some theoretical or numerical difficulties may arise, due to the presence of specific trajectories, namely, singular minimizing trajectories of the underlying optimal control problem. In this article, we provide characterizations for singular trajectories of control-affine systems. We prove that, under generi...
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ژورنال
عنوان ژورنال: SIAM Journal on Control and Optimization
سال: 2008
ISSN: 0363-0129,1095-7138
DOI: 10.1137/060663003