Time optimal control for a nonholonomic system with state constraint

Jérôme Lohéac; Jean-François Scheid

hal-00713280, version 1

Time optimal control for a nonholonomic system with state constraint

Jérôme Lohéac (, ) ^1, 2, Jean-François Scheid () ^1, 2

(29/06/2012)

Abstract: The aim of this paper is to tackle the time optimal controllability of an (n+1)-dimensional nonholonomic integrator. In the optimal control problem we consider, the state variables are subject to a bound constraint. We give a full description of the optimal control and optimal trajectories are explicitly obtained. The optimal trajectories we construct, lie in a 2-dimensional plane and they are composed of arcs of circle.

1: CORIDA (INRIA Nancy - Grand Est / IECN / LMAM)
INRIA – CNRS : UMR7502 – Université de Lorraine
2: Institut Élie Cartan Nancy (IECN)
CNRS : UMR7502 – Université de Lorraine

Collaboration : CORIDA

hal-00713280, version 1
http://hal.archives-ouvertes.fr/hal-00713280
oai:hal.archives-ouvertes.fr:hal-00713280
From: Jérôme Lohéac <>
Submitted on: Friday, 29 June 2012 17:21:18
Updated on: Wednesday, 25 July 2012 14:35:18

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