Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
7109849 | Automatica | 2015 | 5 Pages |
Abstract
This paper gives a brief contact-geometric account of the Pontryagin maximum principle. We show that key notions in the Pontryagin maximum principle - such as the separating hyperplanes, costate, necessary condition, and normal/abnormal minimizers - have natural contact-geometric interpretations. We then exploit the contact-geometric formulation to give a simple derivation of the transversality condition for optimal control with terminal cost.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Tomoki Ohsawa,