Optimal spiral-like solutions near a singular extremal in a two-input control problemстатья
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Дата последнего поиска статьи во внешних источниках: 16 июня 2022 г.
Аннотация:We study an optimal control problem affine in two-dimensional bounded control, in which there is a singular point of the second order. In the neighborhood of the singular point we find optimal spiral-like solutions that attain the singular point in finite time, wherein the corresponding optimal controls perform an infinite number of rotations along the circle S^1. The problem is related to the control of an inverted spherical pendulum in the neighborhood of the upper unstable equilibrium.