Global optimality of extremals: An example

The question of the existence and the location of Darboux points (beyond which global optimality is lost) is crucial for minimal sufficient conditions for global optimality and for computation of optimal trajectories. Here, we investigate numerically the Darboux points and their relationship with conjugate points for a problem of minimum fuel, constant velocity, horizontal aircraft turns to capture a line. This simple second-order optimal control problem shows that ignoring the possible existence of Darboux points may play havoc with the computation of optimal trajectories.The authors are indebted to G. Moyer for his constructive comments. This research was supported, for the first author, by a National Research Council Associateship at NASA Ames Research Center.on leave from the Technion, Israel Institute of Technology, Haifa, Israel.