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Conference Papers Year : 2019

Optimality conditions for the minimal time problem for Complementarity Systems

Abstract

In this paper, we tackle the minimal time problem for systems with complementarity constraints. First we derive some necessary conditions that need to be satisfied by a local minimizer. They are written in terms of stationarity and Weierstrass conditions. A special focus is then made on Linear Complementary Systems, and we investigate a bang-bang property. Finally, the results are completed by a Hamilton-Jacobi-Bellman equation, giving necessary and sufficient conditions of optimality.
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Dates and versions

hal-01856054 , version 1 (09-08-2018)

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Alexandre Vieira, Bernard Brogliato, Christophe Prieur. Optimality conditions for the minimal time problem for Complementarity Systems. MECHATRONICS 2019 - NOLCOS 2019 - 8th IFAC Symposium on Mechatronic Systems - 11th IFAC Symposium on Nonlinear Control Systems, Sep 2019, Vienne, Austria. pp.239-244, ⟨10.1016/j.ifacol.2019.11.785⟩. ⟨hal-01856054⟩
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