Optimal control of switching surfaces in hybrid dynamical systems

被引：51

作者：

Boccadoro, M ^{[1
]}

Wardi, Y

Egerstedt, M

Verriest, E

机构：

[1] Univ Perpignan, Dipartimento Ingn Elettron & Informaz, I-06125 Perugia, Italy

[2] Georgia Inst Technol, Sch Elect & Comp Engn, Atlanta, GA 30332 USA

来源：

DISCRETE EVENT DYNAMIC SYSTEMS-THEORY AND APPLICATIONS | 2005年 / 15卷 / 04期

基金：

美国国家科学基金会;

关键词：

hybrid systems; switching surfaces; optimal control; gradient descent; obstacle avoidance;

D O I：

10.1007/s10626-005-4060-4

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper concerns an optimal control problem defined on a class of switched-mode hybrid dynamical systems. The system's mode is changed (switched) whenever the state variable crosses a certain surface in the state space, henceforth called a switching surface. These switching surfaces are parameterized by finite-dimensional vectors called the switching parameters. The optimal control problem is to minimize a cost functional, defined on the state trajectory, as a function of the switching parameters. The paper derives the gradient of the cost functional in a costate-based formula that reflects the special structure of hybrid systems. It then uses the formula in a gradient-descent algorithm for solving an obstacle-avoidance problem in robotics.

引用

页码：433 / 448

页数：16

共 21 条

[1]

Arkin RC, 1998, BEHAV BASED ROBOTICS

[2]

Bemporad A, 2002, IEEE DECIS CONTR P, P1976, DOI 10.1109/CDC.2002.1184817

[3] A modelling approach for the dynamic scheduling problem of manufacturing systems with non negligible setup times and finite buffers [J].

Boccadoro, M ;

Valigi, P .

42ND IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-6, PROCEEDINGS, 2003, :5472-5477

[4]

BOCCADORO M, 2004, IFAC WORKSH DISCR EV

[5] A unified framework for hybrid control: Model and optimal control theory [J].

Branicky, MS ;

Borkar, VS ;

Mitter, SK .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1998, 43 (01) :31-45

[6]

Brockett R, 1995, PROCEEDINGS OF THE 34TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, P1484, DOI 10.1109/CDC.1995.480312

[7]

Egerstedt M, 2000, LECT NOTES COMPUT SC, V1790, P103

[8]

Egerstedt M., 2003, 42 IEEE C DEC CONTR

[9] General sampled data modeling of power systems supplied by static converter with digital and analog controller [J].

Flieller, D ;

Louis, JP ;

Barrenscheen, J .

MATHEMATICS AND COMPUTERS IN SIMULATION, 1998, 46 (3-4) :373-385

[10]

Giua A, 2001, IEEE DECIS CONTR P, P2472, DOI 10.1109/CDC.2001.980634

← 1 2 3 →