Closed-form expressions and complete classification are given for switching instants in all admissible bang-coast-unconstrained profiles for constrained double-integrator energy-optimal control, including a proof that a bang-affine-coast profile is optimal when both constraints are initially active.
An indirect method for regular state-constrained optimal control problems in flow fields,
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Closed-Form Characterization of Constrained Double-Integrator Optimal Control
Closed-form expressions and complete classification are given for switching instants in all admissible bang-coast-unconstrained profiles for constrained double-integrator energy-optimal control, including a proof that a bang-affine-coast profile is optimal when both constraints are initially active.