Bernard Brogliato

INRIA-Grenoble

Quadratic optimal control of linear complementarity systems.

Basing on the seminal results by Guo and Ye (SIAM J. Control Optim. 2016), we derive first order necessary conditions for the quadratic optimal control of linear complementarity systems (LCS). Roughly speaking these conditions take the form of a boundary value problem where the state and the adjoint state obey an LCS with an inequality constraint. A direct method involving MPEC problems is also studied. The indirect method is solved with a code developed from a shooting method. Numerical results for both the direct and the indirect methods are shown on various types of LCS.