Normality and Nondegeneracy for Optimal Control Problems with State Constraints

International audienceIn this paper we investigate normal and nondegenerate forms of the maximum principle for optimal control problems with state con-straints. We propose new constraint qualifications guaranteeing non-degeneracy and normality that have to be checked on smaller sets of points of an optimal trajectory, than those in known sufficient con-ditions. In fact, the constraint qualifications proposed impose the existence of an inward pointing velocity just on the instants of time for which the optimal trajectory has an outward pointing velocity