Singular Trajectories of Control-Affine Systems

Abstract. When applying methods of optimal control to motion planning or stabilization problems, some theoretical or numerical difficulties may arise, due to the presence of specific trajectories, namely, singular minimizing trajectories of the underlying optimal control problem. In this article, we provide characterizations for singular trajectories of control-affine systems. We prove that, under generic assumptions, such trajectories share nice properties, related to computational aspects; more precisely, we show that, for a generic system

• Type: Journal
• Year: 2008
• Where: SIAMCO
• Authors: Yacine Chitour, Frédéric Jean, Emmanuel Trélat
• Keywords: SIAMCO 2008, Singular Minimizing Trajectories, Singular Trajectories, Trajectories