Bang-Bang Extremals in Sub-Finsler Problems on Engel Group

Yuri Sachkov

2020 15th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy's Conference) (STAB)（2020）

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摘要

We consider a one-parameter family of left-invariant rank 2 sub-Finsler problems on the Engel group with the set of control parameters given by a square centered at the origin and rotated by an arbitrary angle. We describe the phase portrait for bang-bang extremals. Further, we obtain an upper bound on the number of bang arcs on optimal bang-bang extremals.

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关键词

sub-Finsler problem,Engel group,bang-bang extremal,optimality condition

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