Maria Barbero-Liñan, Miguel C. Muñoz-Lecanda
Published 2007-08-01, updated 2008-02-06Version 3
A geometric method is described to characterize the different kinds of extremals in optimal control theory. This comes from the use of a presymplectic constraint algorithm starting from the necessary conditions given by Pontryagin's Maximum Principle. Apart from the design of this general algorithm useful for any optimal control problem, it is showed how it works to split the set of extremals and, in particular, to characterize the strict abnormality. An example of strict abnormal extremal for a particular control-affine system is also given.
Comments: 15 pages. The introduction and the abstract have been modified. The paper has been significantly shortened. The previous examples have been substituted for a new example
Strict abnormal extremals in nonholonomic and kinematic control systems
Optimal Control Problems with Symmetry Breaking Cost Functions
The Reinhardt Conjecture as an Optimal Control Problem
![QR code for arXiv:0708.0102 [math.OC]](http://oss.arxitics.com/images/favicon.svg)