We derive necessary optimality conditions for the time of crisis problem under a more general hypothesis than usual one encountered in hybrid setting, which requires that any optimal solution should cross boundary constraint set transversely. Doing so, we apply Pontryagin Maximum Principle to sequence regular control problems whose integral cost approximates crisis. Optimality are derived by pa...

The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...

The optimal path planning of cooperative manipulators is studied in the present research. Optimal Control Theory is employed to calculate the optimal path of each joint choosing an appropriate index of the system to be minimized and taking the kinematics equations as the constraints. The formulation has been derived using Pontryagin Minimum Principle and results in a Two Point Boundary Value Pr...

This paper is devoted to the study of a one-dimensional optimal control problem of Lagrange type under periodic constraints. The system is governed by a Kolmogorov equation including a control term. We show that the set of initial conditions for which there exists a control such that the associated trajectory is periodic is an interval. Thanks to Pontryagin Maximum Principle, we characterize op...

Nonholonomic wheeled mobile robots are often required to implement algorithms designed for holonomic kinematic systems. This creates a velocity tracking problem for the actual wheeled mobile robot. In this paper, we investigate the issue of tracking the desired velocity in the least amount of time, for a differential drive nonholonomic wheeled mobile robot. If the desired velocity is a constant...

We consider optimal control problems for hyperbolic equations with controls in Neumann boundary conditions with pointwise constraints on the control and state functions. Focusing on the multidimensional wave equation with a nonlinear term, we derive new necessary optimality conditions in the form of a pointwise Pontryagin Maximum Principle for the state-constrained problem under consideration. ...

An optimal control framework to support the management and control of resources in a wide range of problems arising in agriculture is discussed. Lessons extracted from past research on the weed control problem and a survey of a vast body of pertinent literature led to the specification of key requirements to be met by a suitable optimization framework.The proposed layered control structure—incl...

A class of optimal control problems for quasilinear elliptic equations is considered, where the coefficients of the elliptic differential operator depend on the state function. Firstand second-order optimality conditions are discussed for an associated control-constrained optimal control problem. Main emphasis is laid on second-order sufficient optimality conditions. To this aim, the regularity...

This paper introduces and studies a field theoretic analogue of the Clebsch variational principle of classical mechanics. This principle yields an alternative derivation of the covariant Euler-Poincaré equations that naturally includes covariant Clebsch variables via multisymplectic momentum maps. In the case of diffeomorphism groups, this approach gives a new interpretation of recently derived...