1. M. Chyba, N. E. Leonard, and E.D. Sontag. Singular trajectories in multi-input time-optimal problems: Application to controlled mechanical systems. Journal of Dynamical and Control Systems, 9(1):103-129, 2003. [PDF] [doi:http://dx.doi.org/10.1023/A:1022159318457] Keyword(s): optimal control. Abstract:

   This paper addresses the time-optimal control problem for a class of control systems which includes controlled mechanical systems with possible dissipation terms. The Lie algebras associated with such mechanical systems enjoy certain special properties. These properties are explored and are used in conjunction with the Pontryagin maximum principle to determine the structure of singular extremals and, in particular, time-optimal trajectories. The theory is illustrated with an application to a time-optimal problem for a class of underwater vehicles.

1. M. Chyba, N.E. Leonard, and E.D. Sontag. Optimality for underwater vehicles. In Proc. IEEE Conf. Decision and Control, Orlando, Dec. 2001,IEEE Publications, 2001, pages 4204-4209, 2001. [PDF] Keyword(s): optimal control.



2. M. Chyba, N.E. Leonard, and E.D. Sontag. Time-optimal control for underwater vehicles. In N.E. Leonard and R. Ortega, editors, Lagrangian and Hamiltonian Methods for Nonlinear Control, pages 117-122, 2000. Pergamon Press, Oxford. [PDF]

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