Control of systems integrating logic, dynamics, and constraints
Automatica (Journal of IFAC)
Brief Equivalence of hybrid dynamical models
Automatica (Journal of IFAC)
Minimal Control Synthesis Adaptive Control of Continuous Bimodal Piecewise Affine Systems
SIAM Journal on Control and Optimization
Brief paper: On a reachability problem for affine hypersurface systems on polytopes
Automatica (Journal of IFAC)
| Hi-index | 22.15 |
We present an algorithm for the computation of explicit optimal control laws for piecewise affine (PWA) systems with polyhedral performance indices. The algorithm is based on dynamic programming (DP) and represents an extension of ideas initially proposed in Kerrigan and Mayne [(2003). Optimal control of constrained, piecewise affine systems with bounded disturbances. In Proceedings of the 41st IEEE conference on decision and control, Las Vegas, Nevada, USA, December], and Baotic et al. [(2003). A new algorithm for constrained finite time optimal control of hybrid systems with a linear performance index. In Proceedings of European control conference, Cambridge, UK, September]. Specifically, we show how to exploit the underlying geometric structure of the optimization problem in order to significantly improve the efficiency of the off-line computations. An extensive case study is provided, which clearly indicates that the algorithm proposed in this paper may be preferable to other schemes published in the literature.