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

Abstract

This work points out that the costates are actually discontinuous functions of time for optimal control problems with Coloumb friction. In particular these discontinuities occur at the time points where the velocity of the system changes sign. To the authors knowledge, this has not been noted before. This phenomenon is demonstrated on a minimum-time problem with Coloumb friction and the consistency of discontinuous costates and switching functions with respect to the input switches is shown.

Authors:
;
Publication Date:
Research Org.:
Sandia National Labs., Albuquerque, NM (US); Sandia National Labs., Livermore, CA (US)
Sponsoring Org.:
US Department of Energy (US)
OSTI Identifier:
756407
Report Number(s):
SAND2000-1358C
TRN: AH200022%%162
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Conference
Resource Relation:
Conference: International Mechanical Engineering Congress and Exhibition, Orlando, FL (US), 11/05/2000--11/10/2000; Other Information: PBD: 30 May 2000
Country of Publication:
United States
Language:
English
Subject:
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; 99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; OPTIMAL CONTROL; FRICTION; ROBOTS; TRAJECTORIES

Citation Formats

DRIESSEN,BRIAN, and SADEGH,NADER. On the discontinuity of the costates for optimal control problems with Coulomb friction. United States: N. p., 2000. Web.
DRIESSEN,BRIAN, & SADEGH,NADER. On the discontinuity of the costates for optimal control problems with Coulomb friction. United States.
DRIESSEN,BRIAN, and SADEGH,NADER. Tue . "On the discontinuity of the costates for optimal control problems with Coulomb friction". United States. https://www.osti.gov/servlets/purl/756407.
@article{osti_756407,
title = {On the discontinuity of the costates for optimal control problems with Coulomb friction},
author = {DRIESSEN,BRIAN and SADEGH,NADER},
abstractNote = {This work points out that the costates are actually discontinuous functions of time for optimal control problems with Coloumb friction. In particular these discontinuities occur at the time points where the velocity of the system changes sign. To the authors knowledge, this has not been noted before. This phenomenon is demonstrated on a minimum-time problem with Coloumb friction and the consistency of discontinuous costates and switching functions with respect to the input switches is shown.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2000},
month = {5}
}

Conference:
Other availability
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