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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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https://hal.inria.fr/hal-01856054
Contributor : Alexandre Vieira <>
Submitted on : Thursday, August 9, 2018 - 2:50:12 PM
Last modification on : Tuesday, October 6, 2020 - 12:44:46 PM
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. Joint 8th IFAC Symposium on Mechatronic Systems (MECHATRONICS'19) and 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS'19), Sep 2019, Vienne, Austria. pp.239-244, ⟨10.1016/j.ifacol.2019.11.785⟩. ⟨hal-01856054⟩

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