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On the discontinuity of the costates for optimal control problems with Coulomb friction
Author(s) -
Driessen Brian J.,
Sadegh Nader
Publication year - 2001
Publication title -
optimal control applications and methods
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.458
H-Index - 44
eISSN - 1099-1514
pISSN - 0143-2087
DOI - 10.1002/oca.691
Subject(s) - classification of discontinuities , discontinuity (linguistics) , coulomb friction , coulomb , consistency (knowledge bases) , sign (mathematics) , work (physics) , phenomenon , physics , mathematics , mechanics , mathematical analysis , geometry , quantum mechanics , nonlinear system , electron
This work points out that the costates are actually discontinuous functions of time for optimal control problems with Coulomb friction. In particular these discontinuities occur at the time points where the velocity of the system changes sign. To our knowledge, this has not been noted before. This phenomenon is demonstrated on a minimum‐time problem with Coulomb friction and the consistency of discontinuous costates and switching functions with respect to the input switches is shown. Copyright © 2001 John Wiley & Sons, Ltd.