Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada IV, Universitat Politècnica de Catalunya. DGDSA - Geometria Diferencial, Sistemes Dinàmics i Aplicacions
Source:
Recercat. Dipósit de la Recerca de Catalunya instname UPCommons. Portal del coneixement obert de la UPC Universitat Politècnica de Catalunya (UPC)
Publication Status:
Preprint
Publisher Information:
American Institute of Mathematical Sciences (AIMS), 2010.
In optimal control problems, there exist different kinds of extremals, that is, curves candidates to be solution: abnormal, normal and strictly abnormal. The key point for this classification is how those extremals depend on the cost function. We focus on control systems such as nonholonomic control mechanical systems and the associated kinematic systems as long as they are equivalent. With all this in mind, first we study conditions to relate an optimal control problem for the mechanical system with another one for the associated kinematic system. Then, Pontryagin's Maximum Principle will be used to connect the abnormal extremals of both optimal control problems. An example is given to glimpse what the abnormal solutions for kinematic systems become when they are considered as extremals to the optimal control problem for the corresponding nonholonomic mechanical systems. 19 pages