Optimal endpoints

Abstract

A complete set of necessary and sufficient conditions for selecting optimal endpoints for extremals obtained from the variational Bolza problem in control notation has been developed. The method used to obtain these conditions is based on a seldom used concept of performing a dichotomy on the general optimization problem. With this concept, the problem of Bolza is decomposed into two problems, the first of which involves the selection of optimal paths with the endpoints considered fixed. The second problem involves the selection of optimal endpoints with the paths between the endpoints taken to be stationary curves. The convenience of the dichotomy in deriving the necessary and sufficient conditions for endpoints lies in its simplicity and elementary character; well-known necessary and sufficient conditions from the theory of ordinary maxima and minima are used.

An endpoint necessary condition is first obtained which is simply the well-known transversality condition. An additional condition is then developed which, together with the transversality condition, leads to a set of necessary and sufficient conditions for a given extremal to be locally optimal with respect to endpoint variations. While the second condition presented is akin to the classical focal-point condition, the result is new in form and is directly applicable to the optimal control problem. In addition, it is relatively simple to apply and is easy to implement numerically when an analytical solution is not possible. It should be useful in situations where the transversality conditions yield more than one choice for an optimal endpoint.

An analytic solution for a simple geodetics problem is presented to illustrate the theory. A discussion of numerical implementation of the sufficiency conditions and its application to an orbit transfer example is also included.