Attainable set for rank 3 step 2 free Carnot group with positive controls

Abstract

We find the attainable set for a control system on the free Carnot group of rank $3$ and step $2$ with positive controls. This kind of control systems is connected with the theory of free Lie semigroups; with some estimates for probabilities of inequalities for independent random variables; with the nilpotent approximation of robotic control systems and with contour recovering without cusps in image processing. We investigate the boundary of the attainable set with the help of the Pontryagin maximum principle for the time-optimal control problem. We study extremal trajectories that correspond to bang-bang, singular and mixed controls. We obtain upper bounds for the number of switchings for optimal controls. This implies a parametrization of the boundary faces of the attainable set.

Figures (3)

• Figure 1: Adjoint subsystems for bang-bang trajectories and one singular trajectory.
• Figure 2: Adjoint subsystems with singular trajectories.
• Figure 3: The cube in the $(p,q,r)$-space containing the set $\mathcal{B}$.

Theorems & Definitions (23)

• Proposition 1
• proof
• Proposition 2
• proof
• Theorem 1
• Proposition 3
• proof
• Theorem 2
• Proposition 4
• proof