Optimality of Broken Extremals
نویسنده
چکیده
In this paper we analyse the optimality of broken Pontryagin extremal for an n -dimensional affine control system with a control parameter, taking values in a k dimensional closed ball. We prove the optimality of broken normal extremals when n = 3 and the controllable vector fields form a contact distribution, and when the Lie algebra of the controllable fields is locally orthogonal to the singular locus and the drift does not belong to it. Moreover, if k = 2 , we show the optimality of any broken extremal even abnormal when the controllable fields do not form a contact distribution in the point of singularity.
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تاریخ انتشار 2017