0537210 20250310145807.620210108235959.9 000606806100001 85095957685 10.1016/j.matpur.2020.11.005 31 s. P cav_un_epca*02538840021-78241461 (2021)127-157Elsevier Optimal control Sweeping process Discrete approximations Necessary optimality conditions Crawling locomotion Soft robotics cav_un_auth*0039661 Colombo G. IT cav_un_auth*0390416 Gidoni Paolo UTIA-B Matematická teorie rozhodování Department of Decision Making Theory MTR MTR Ústav teorie informace a automatizace AV ČR, v. v. i. http://library.utia.cas.cz/separaty/2021/MTR/gidoni-0537210.pdf https://www.sciencedirect.com/science/article/pii/S0021782420301896 GF19-29646L GA ČR CZ cav_un_auth*0385134 Existence of optimal solutions and necessary optimality conditions for a controlled version of Moreau's sweeping process are derived. The control is a measurable ingredient of the dynamics and the constraint set is a polyhedron. The novelty consists in considering time periodic trajectories, adding the requirement that the control has zero average, and considering an integral functional that lacks weak semicontinuity. A model coming from the locomotion of a soft-robotic crawler, that motivated our setting, is analysed in detail. In obtaining necessary conditions, a variant of the method of discrete approximations is used. 2022 BA WOS 10000 10100 10102 2 2 R hod 4 4rh 4 20250310144814.1 4 20250310145807.6 RVO:67985556 http://hdl.handle.net/11104/0315006 S 1 Article Mathematics Applied|Mathematics C MATHEMATICS|MATHEMATICS.APPLIED 2.491 0.762 12.7 0.00879 1.943 4737 77 2.100 36.74 2.1 803 Q1 2.216 101 Q1 85.9 Q1* Q1* 1.63 Q1 92.643 2021 Soubory v repozitáři: gidoni-0537210.pdf 85095957685 SCOPUS PUBMED 000606806100001 WOS cav_un_epca*0253884 Journal de Mathematiques Pures et Appliquees 0021-7824 1776-3371 Roč. 146 č. 1 2021 127 157 Elsevier