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

DOI10.1002/OCA.691zbMath1069.49500OpenAlexW2037538889MaRDI QIDQ5317814

Brian J. Driessen, Nader Sadegh

Publication date: 21 September 2005

Published in: Optimal Control Applications and Methods (Search for Journal in Brave)

Full work available at URL: https://digital.library.unt.edu/ark:/67531/metadc704612/

zbMATH Keywords

optimal controlCoulomb frictionswitching functionsminimum timediscontinuous costates

Mathematics Subject Classification ID

Regularity of solutions in optimal control (49N60) Existence theories for optimal control problems involving ordinary differential equations (49J15)

Related Items (1)

Optimal control of systems with discontinuous differential equations

Cites Work

• Time-optimal motions of robots in assembly tasks
• Computation of time-optimal controls applied to rigid manipulators with friction

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