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Optimality conditions for the minimal time problem for Complementarity Systems

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, the results are completed by a Hamilton-Jacobi-Bellman equation, giving necessary and sufficient conditions of optimality.
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Submitted on : Thursday, August 9, 2018 - 2:50:12 PM
Last modification on : Friday, February 4, 2022 - 3:34:14 AM
Long-term archiving on: : Saturday, November 10, 2018 - 1:37:26 PM

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Alexandre Vieira, Bernard Brogliato, Christophe Prieur. Optimality conditions for the minimal time problem for Complementarity Systems. MECHATRONICS 2019 - NOLCOS 2019 - 8th IFAC Symposium on Mechatronic Systems - 11th IFAC Symposium on Nonlinear Control Systems, Sep 2019, Vienne, Austria. pp.239-244, ⟨10.1016/j.ifacol.2019.11.785⟩. ⟨hal-01856054⟩

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