Discrete Approximations of a Controlled Sweeping Process

The paper is devoted to the study of a new class of optimal control problems governed by the classical Moreau sweeping process with the new feature that the polyhe- dral moving set is not fixed while controlled by time-dependent functions. The dynamics of such problems is described by dissipative non-Lipschitzian differential inclusions with state constraints of equality and inequality types. It makes challenging and difficult their anal- ysis and optimization. In this paper we establish some existence results for the sweeping process under consideration and develop the method of discrete approximations that allows us to strongly approximate, in the W^{1,2} topology, optimal solutions of the continuous-type sweeping process by their discrete counterparts

Optimal control of the sweeping process over polyhedral controlled sets

The paper addresses a new class of optimal control problems governed by the dissipative and discontinuous differential inclusion of the sweeping/Moreau process while using controls to determine the best shape of moving convex polyhedra in order to optimize the given Bolza-type functional, which depends on control and state variables as well as their velocities. Besides the highly non-Lipschitzian nature of the unbounded differential inclusion of the controlled sweeping process, the optimal control problems under consideration contain intrinsic state constraints of the inequality and equality types. All of this creates serious challenges for deriving necessary optimality conditions. We develop here the method of discrete approximations and combine it with advanced tools of first-order and second-order variational analysis and generalized differentiation. This approach allows us to establish constructive necessary optimality conditions for local minimizers of the controlled sweeping process expressed entirely in terms of the problem data under fairly unrestrictive assumptions. As a by-product of the developed approach, we prove the strong $W^{1,2}$-convergence of optimal solutions of discrete approximations to a given local minimizer of the continuous-time system and derive necessary optimality conditions for the discrete counterparts. The established necessary optimality conditions for the sweeping process are illustrated by several examples

Optimal Control of Sweeping Processes in Robotics and Traffic Flow Models

The paper is mostly devoted to applications of a novel optimal control theory for perturbed sweeping/Moreau processes to two practical dynamical models. The first model addresses mobile robot dynamics with obstacles, and the second one concerns control and optimization of traffic flows. Describing these models as controlled sweeping processes with pointwise/hard control and state constraints and applying new necessary optimality conditions for such systems allow us to develop efficient procedures to solve naturally formulated optimal control problems for the models under consideration and completely calculate optimal solutions in particular situations

BV-norm continuity of sweeping processes driven by a set with constant shape

We prove the BV-norm well posedness of sweeping processes driven by a moving convex set with constant shape, namely the BV-norm continuity of the so-called play operator of elasto-plasticity.Comment: Minor corrections. To appear in "Journal of Differential Equations

Sweeping by a tame process

We show that any semi-algebraic sweeping process admits piecewise absolutely continuous solutions, and any such bounded trajectory must have finite length. Analogous results hold more generally for sweeping processes definable in o-minimal structures. This extends previous work on (sub)gradient dynamical systems beyond monotone sweeping sets.Comment: 18 page