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CDC
2010
IEEE

On-line optimal timing control of switched systems

10 years 6 months ago
On-line optimal timing control of switched systems
This paper considers a real-time algorithm for performance optimization of switched-mode hybrid dynamical systems. The controlled parameter consists of the switching times between the modes, and the cost criterion has the form of the integral of a performance function defined on the system's state trajectory. The dynamic response functions (state equations) associated with the modes are not known in advance; rather, at each time t, they are estimated for all future times s t. A first-order algorithm is proposed and its behavior is analyzed in terms of its convergence rate. Finally, an example of a mobile robot tracking a moving target while avoiding obstacles is presented.
Yorai Wardi, Philip Twu, Magnus Egerstedt
Added 13 May 2011
Updated 13 May 2011
Type Journal
Year 2010
Where CDC
Authors Yorai Wardi, Philip Twu, Magnus Egerstedt
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