Markov-Dubins problem with angular acceleration control

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Abstract

We study a modified version of the well known Markov-Dubins problem, in which the control is angular acceleration rather than angular velocity. We show that an optimal trajectory cannot contain a junction of a bang-bang and a singular piece, and use results of Zelikin and Borisov to show that there are Pontryagin extremals involving infinite chattering.

Original languageEnglish (US)
Pages (from-to)2639-2643
Number of pages5
JournalProceedings of the IEEE Conference on Decision and Control
Volume3
StatePublished - Dec 1 1997
EventProceedings of the 1997 36th IEEE Conference on Decision and Control. Part 1 (of 5) - San Diego, CA, USA
Duration: Dec 10 1997Dec 12 1997

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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