DOI: 10.1051/cocv:2003013 MOTION PLANNING FOR A NONLINEAR STEFAN PROBLEM

Abstract. In this paper we consider a free boundary problem for a nonlinear parabolic partial dif-ferential equation. In particular, we are concerned with the inverse problem, which means we know the behavior of the free boundary a priori and would like a solution, e.g. a convergent series, in order to determine what the trajectories of the system should be for steady-state to steady-state boundary control. In this paper we combine two issues: the free boundary (Stefan) problem with a quadratic nonlinearity. We prove convergence of a series solution and give a detailed parametric study on the series radius of convergence. Moreover, we prove that the parametrization can indeed can be used for motion planning purposes; computation of the open loop motion planning is straightforward. Simu-lation results are given and we prove some important properties about the solution. Namely, a weak maximum principle is derived for the dynamics, stating that the maximum is on the boundary. Also, we prove asymptotic positiveness of the solution, a physical requirement over the entire domain, as the transient time from one steady-state to another gets large