Optimality Conditions for the Minimal Time Problem for Complementarity Systems

Alexandre Vieira1, Bernard Brogliato2, Christophe Prieur3

  • 1INRIA
  • 2UR Rhone-Alpes
  • 3CNRS

Details

14:30 - 14:50 | Wed 4 Sep | Room FH 4 | WeD4.1

Session: Set-Valued and Nonsmooth Analysis in Systems and Control: Generalized Lyapunov Methods and Beyond I

Abstract

In this paper, we tackle the minimal time problem for systems with complementarity constraints. First we derive some necessary conditions that need to be satisfied by a local minimizer. They are written in terms of stationarity and Weierstrass conditions. A special focus is then made on Linear Complementary Systems, and we investigate a bang-bang property. Finally, for sake of completeness, the results are completed by an Hamilton-Jacobi-Bellman equation, giving necessary and sufficient conditions of optimality.