Optimization of Controlled Free-Time Sweeping Processes with Applications to Marine Surface Vehicle Modeling

Tan H. Cao, Nathalie T. Khalil, Boris S. Mordukhovich, Dao Nguyen, Trang Nguyen, Fernando Lobo Pereira

Published 2021-05-07Version 1

The paper is devoted to a free-time optimal control problem for sweeping processes. We develop a constructive finite-difference approximation procedure that allows us to establish necessary optimality conditions for discrete optimal solutions and then show how these optimality conditions are applied to solving a controlled marine surface vehicle model.