September  2002, 1(3): 285-312. doi: 10.3934/cpaa.2002.1.285

On the minimum time problem for driftless left-invariant control systems on SO(3)


Universite de Bourgogne, Departement de Mathematiques, Analyse Appliquee et Optimisation, 47870-21078 Dijon, France


Universite Paris XI,, Departement de Mathematiques, F-91405 Orsay, France

Received  July 2001 Revised  January 2002 Published  June 2002

In this paper, we investigate the structure of time-optimal trajectories for a driftless control system on $SO(3)$ of the type $\dot x=x(u_1f_1+u_2f_2), \quad |u_1|, \quad |u_2|\leq 1$, where $f_1,\quad f_2\in so(3)$ define two linearly independent left-invariant vector fields on $SO(3)$. We show that every time-optimal trajectory is a finite concatenation of at most five (bang or singular) arcs. More precisely, a time-optimal trajectory is, on the one hand, bang-bang with at most either two consecutive switchings relative to the same input or three switchings alternating between two inputs, or, on the other hand, a concatenation of at most two bangs followed by a singular arc and then two other bangs. We end up finding a finite number of three-parameters trajectory types that are sufficient for time-optimality.
Citation: Ugo Boscain, Yacine Chitour. On the minimum time problem for driftless left-invariant control systems on SO(3). Communications on Pure & Applied Analysis, 2002, 1 (3) : 285-312. doi: 10.3934/cpaa.2002.1.285

Zaidong Zhan, Shuping Chen, Wei Wei. A unified theory of maximum principle for continuous and discrete time optimal control problems. Mathematical Control & Related Fields, 2012, 2 (2) : 195-215. doi: 10.3934/mcrf.2012.2.195


Guy Barles, Ariela Briani, Emmanuel Trélat. Value function for regional control problems via dynamic programming and Pontryagin maximum principle. Mathematical Control & Related Fields, 2018, 8 (3&4) : 509-533. doi: 10.3934/mcrf.2018021


Hans Josef Pesch. Carathéodory's royal road of the calculus of variations: Missed exits to the maximum principle of optimal control theory. Numerical Algebra, Control & Optimization, 2013, 3 (1) : 161-173. doi: 10.3934/naco.2013.3.161


Giulia Cavagnari. Regularity results for a time-optimal control problem in the space of probability measures. Mathematical Control & Related Fields, 2017, 7 (2) : 213-233. doi: 10.3934/mcrf.2017007


Omid S. Fard, Javad Soolaki, Delfim F. M. Torres. A necessary condition of Pontryagin type for fuzzy fractional optimal control problems. Discrete & Continuous Dynamical Systems - S, 2018, 11 (1) : 59-76. doi: 10.3934/dcdss.2018004


Md. Haider Ali Biswas, Maria do Rosário de Pinho. A nonsmooth maximum principle for optimal control problems with state and mixed constraints - convex case. Conference Publications, 2011, 2011 (Special) : 174-183. doi: 10.3934/proc.2011.2011.174


Robert J. Martin, Patrizio Neff. Minimal geodesics on GL(n) for left-invariant, right-O(n)-invariant Riemannian metrics. Journal of Geometric Mechanics, 2016, 8 (3) : 323-357. doi: 10.3934/jgm.2016010


Huaiqiang Yu, Bin Liu. Pontryagin's principle for local solutions of optimal control governed by the 2D Navier-Stokes equations with mixed control-state constraints. Mathematical Control & Related Fields, 2012, 2 (1) : 61-80. doi: 10.3934/mcrf.2012.2.61


Laurenz Göllmann, Helmut Maurer. Theory and applications of optimal control problems with multiple time-delays. Journal of Industrial & Management Optimization, 2014, 10 (2) : 413-441. doi: 10.3934/jimo.2014.10.413


Piotr Kopacz. A note on time-optimal paths on perturbed spheroid. Journal of Geometric Mechanics, 2018, 10 (2) : 139-172. doi: 10.3934/jgm.2018005


H. O. Fattorini. The maximum principle for linear infinite dimensional control systems with state constraints. Discrete & Continuous Dynamical Systems - A, 1995, 1 (1) : 77-101. doi: 10.3934/dcds.1995.1.77


Hongwei Lou, Junjie Wen, Yashan Xu. Time optimal control problems for some non-smooth systems. Mathematical Control & Related Fields, 2014, 4 (3) : 289-314. doi: 10.3934/mcrf.2014.4.289


Piermarco Cannarsa, Cristina Pignotti, Carlo Sinestrari. Semiconcavity for optimal control problems with exit time. Discrete & Continuous Dynamical Systems - A, 2000, 6 (4) : 975-997. doi: 10.3934/dcds.2000.6.975


Piermarco Cannarsa, Carlo Sinestrari. On a class of nonlinear time optimal control problems. Discrete & Continuous Dynamical Systems - A, 1995, 1 (2) : 285-300. doi: 10.3934/dcds.1995.1.285


Y. Gong, X. Xiang. A class of optimal control problems of systems governed by the first order linear dynamic equations on time scales. Journal of Industrial & Management Optimization, 2009, 5 (1) : 1-10. doi: 10.3934/jimo.2009.5.1


Chiun-Chuan Chen, Li-Chang Hung, Chen-Chih Lai. An N-barrier maximum principle for autonomous systems of $n$ species and its application to problems arising from population dynamics. Communications on Pure & Applied Analysis, 2019, 18 (1) : 33-50. doi: 10.3934/cpaa.2019003


Shaolin Ji, Xiaole Xue. A stochastic maximum principle for linear quadratic problem with nonconvex control domain. Mathematical Control & Related Fields, 2019, 9 (3) : 495-507. doi: 10.3934/mcrf.2019022


Yan Wang, Yanxiang Zhao, Lei Wang, Aimin Song, Yanping Ma. Stochastic maximum principle for partial information optimal investment and dividend problem of an insurer. Journal of Industrial & Management Optimization, 2018, 14 (2) : 653-671. doi: 10.3934/jimo.2017067


Shanjian Tang. A second-order maximum principle for singular optimal stochastic controls. Discrete & Continuous Dynamical Systems - B, 2010, 14 (4) : 1581-1599. doi: 10.3934/dcdsb.2010.14.1581


M. Motta, C. Sartori. Exit time problems for nonlinear unbounded control systems. Discrete & Continuous Dynamical Systems - A, 1999, 5 (1) : 137-156. doi: 10.3934/dcds.1999.5.137

2019 Impact Factor: 1.105


  • PDF downloads (35)
  • HTML views (0)
  • Cited by (3)

Other articles
by authors

[Back to Top]