Geometry of Optimal Control for Control-Affine Systems
Motivated by the ubiquity of control-affine systems in optimal control theory, we investigate the geometry of point-affine control systems with metric structures in dimensions two and three. We compute local isometric invariants for point-affine distributions of constant type with metric structures...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
National Academy of Science of Ukraine
2013-04-01
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| Series: | Symmetry, Integrability and Geometry: Methods and Applications |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.3842/SIGMA.2013.034 |
| Summary: | Motivated by the ubiquity of control-affine systems in optimal control theory, we investigate the geometry of point-affine control systems with metric structures in dimensions two and three. We compute local isometric invariants for point-affine distributions of constant type with metric structures for systems with 2 states and 1 control and systems with 3 states and 1 control, and use Pontryagin's maximum principle to find geodesic trajectories for homogeneous examples. Even in these low dimensions, the behavior of these systems is surprisingly rich and varied. |
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| ISSN: | 1815-0659 |