Abnormal Optimal Trajectory Planning of Multi-Body Systems in the Presence of Holonomic and Nonholonomic Constraints

摘要

In optimal control problems, the Hamiltonian function is given by the weighted sum of the integrand of the cost function and the dynamic equation. The coefficient multiplying the integrand of the cost function is either zero or one; and if this coefficient is zero, then the optimal control problem is known as abnormal; otherwise it is normal. This paper provides a characterization of the abnormal optimal control problem for multi-body mechanical systems, subject to external forces and moments, and holonomic and nonholonomic constraints. This study does not only account for first-order necessary conditions, such as Pontryagin's principle, but also for higher-order conditions, which allow the analysis of singular optimal controls.