News
- Prof. Han-Lim Choi’s Research Team, Solves a Constructive BVP Challenge in Fixed-Time State Transfer Paper Accepted for Publication in Automatica
- 관리자 |
- 2026-06-17 14:14:08|
- 26
- 2026-06-17 14:14:08|
Juho Bae and Prof. Han-Lim Choi from our department’s Laboratory for Information and Control Systems present their paper “Fixed-Time State Transfer via Pontryagin Extremals,” which has been accepted for publication in Automatica, a leading international journal in systems and control. The work presents a Pontryagin-extremal-based framework for fixed-time state transfer of nonlinear systems.
The study proves a key equivalence: whenever the target state is reachable, the proposed TPBVP is guaranteed to have a solution. The transfer is constructed by concatenating two Pontryagin extremals—one propagated forward from the initial state and one backward from the terminal state.
The framework further extends Dubins-type path planning to 3D curvature-bounded trajectories, showing that feasible paths can be synthesized from CSC/CCC segments and helicoidal arcs for aerial-vehicle and robotic motion planning.
The study proves a key equivalence: whenever the target state is reachable, the proposed TPBVP is guaranteed to have a solution. The transfer is constructed by concatenating two Pontryagin extremals—one propagated forward from the initial state and one backward from the terminal state.
The framework further extends Dubins-type path planning to 3D curvature-bounded trajectories, showing that feasible paths can be synthesized from CSC/CCC segments and helicoidal arcs for aerial-vehicle and robotic motion planning.
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