Quadratic Optimal Control of Linear Complementarity Systems: First order necessary conditions and numerical analysis - Archive ouverte HAL Access content directly
Journal Articles IEEE Transactions on Automatic Control Year : 2020

Quadratic Optimal Control of Linear Complementarity Systems: First order necessary conditions and numerical analysis

Commande optimale quadratique des Systèmes de Complémentarité Linéaire : conditions nécessaires du premier ordre, analyse numérique

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Abstract

This article is dedicated to the analysis of quadratic optimal control of linear complementarity systems (LCS), which are a class of strongly nonlinear and nonsmooth dynamical systems. Necessary first-order conditions are derived, that take the form of an LCS with inequality constraints, hence are numerically tractable. Sufficiency is proved in a specific sense. Numerical examples illustrate the theoretical developments and demonstrate the efficiency of the complementarity approach.
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Dates and versions

hal-01690400 , version 1 (23-01-2018)
hal-01690400 , version 2 (23-01-2018)
hal-01690400 , version 3 (18-04-2018)

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Cite

Alexandre Vieira, Bernard Brogliato, Christophe Prieur. Quadratic Optimal Control of Linear Complementarity Systems: First order necessary conditions and numerical analysis. IEEE Transactions on Automatic Control, 2020, 65 (6), pp.2743-2750. ⟨10.1109/TAC.2019.2945878⟩. ⟨hal-01690400v3⟩
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