ON REGULAR AND SINGULAR POINTS OF THE MINIMUM TIME FUNCTION

Abstract : In this thesis, we study the regularity of the minimum time function $T$ for both linear and nonlinear control systems in Euclidean space. We first consider nonlinear problems satisfying Petrov condition. In this case, $T$ is locally Lipschitz and then is differentiable almost everywhere. In general, T fails to be differentiable at points where there are multiple time optimal trajectories and its differentiability at a point does not guarantee continuous differentiability around this point. We show that, under some regularity assumptions, the non-emptiness of proximal subdifferential of the minimum time function at a point $x$ implies its continuous differentiability on a neighborhood of $x$. The technique consists of deriving sensitivity relations for the proximal subdifferential of the minimum time function and excluding the presence of conjugate points when the proximal subdifferential is nonempty. We then study the regularity the minimum time function $T$ to reach the origin under controllability conditions which do not imply the Lipschitz continuity of $T$. Basing on the analysis of zeros of the switching function, we find out singular sets (e.g., non - Lipschitz set, non - differentiable set) and establish rectifiability properties for them. The results imply further regularity properties of $T$ such as the SBV regularity, the differentiability and the analyticity. The results are mainly for linear control problems.
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https://hal.inria.fr/tel-01127728
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• HAL Id : tel-01127728, version 1

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Nguyen van Luong. ON REGULAR AND SINGULAR POINTS OF THE MINIMUM TIME FUNCTION . Optimization and Control [math.OC]. University of Padova, 2014. English. ⟨tel-01127728⟩

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