On the discontinuity of the costates for optimal control problems with Coulomb friction

Authors
Driessen, BJ Sadegh, N
Citation
Bj. Driessen et N. Sadegh, On the discontinuity of the costates for optimal control problems with Coulomb friction, OPTIM CONTR, 22(4), 2001, pp. 197-200
Citations number
2
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
OPTIMAL CONTROL APPLICATIONS & METHODS
ISSN journal
01432087 → ACNP
Volume
22
Issue
4
Year of publication
2001
Pages
197 - 200
Database
ISI
SICI code
0143-2087(200107/08)22:4<197:OTDOTC>2.0.ZU;2-8
Abstract
This work points out that the costates are actually discontinuous functions of time for optimal control problems with Coulomb friction. In particular these discontinuities occur at the time points where the velocity of the sy stem changes sign. To our knowledge, this has not been noted before. This p henomenon is demonstrated on a mininium-titne problem with Coulomb friction and the consistency of discontinuous costates and switching functions with respect to the input switches is shown. Copyright (C) 2001 John Wiley & So ns, Ltd.