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Licensed Unlicensed Requires Authentication Published by De Gruyter 2017

15. Time-optimal control for a perturbed Brockett integrator

From the book Variational Methods

  • Jérôme Lohéac and Jean-François Scheid


The aim of this paper is to compute time-optimal controls for a perturbation of a Brockett integrator with state constraints. Brockett integrator and its perturbations appear in many application fields. One of themdescribed in details in this paper is the swimming of micro-organisms.We present some key results for a fast and robust numericalmethod to compute time-optimal controls for the perturbation of a Brockett integrator. This numerical method is based on explicit formulae of time-optimal controls for the Brockett integrator. The methodology presented in this paper is applied to the time-optimal control of a micro-swimmer.

© 2016 Walter de Gruyter GmbH, Berlin/Munich/Boston
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