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HYBRID

2010

Springer

2010

Springer

One of the oldest problems in the study of dynamical systems is the calculation of an optimal control. Though the determination of a numerical solution for the general nonconvex optimal control problem for hybrid systems has been pursued relentlessly to date, it has proven diﬃcult, since it demands nominal mode scheduling. In this paper, we calculate a numerical solution to the optimal control problem for a constrained switched nonlinear dynamical system with a running and ﬁnal cost. The control parameter has a discrete component, the sequence of modes, and two continuous components, the duration of each mode and the continuous input while in each mode. To overcome the complexity posed by the discrete optimization problem, we propose a bilevel hierarchical optimization algorithm: at the higher level, the algorithm updates the mode sequence by using a singlemode variation technique, and at the lower level, the algorithm considers a ﬁxed mode sequence and minimizes the cost functi...

Related Content

Added |
18 May 2010 |

Updated |
18 May 2010 |

Type |
Conference |

Year |
2010 |

Where |
HYBRID |

Authors |
Humberto González, Ramanarayan Vasudevan, Maryam Kamgarpour, Shankar S. Sastry, Ruzena Bajcsy, Claire J. Tomlin |

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