Brief paper: Event-driven optimization-based control of hybrid systems with integral continuous-time dynamics

  • Authors:

  • S. Di Cairano;A. Bemporad;J. Júlvez

  • Affiliations:

  • Department of Information Engineering, University of Siena, Via Roma 56, Siena, Italy and Powertrain Control Department, Ford Motor Company Research and Advanced Engineering, Dearborn, MI, USA;Department of Information Engineering, University of Siena, Via Roma 56, Siena, Italy;Department of Software, Technical University of Catalonia, Jordi Girona 1-3, Barcelona, Spain

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2009

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Abstract

In this paper we introduce a class of continuous-time hybrid dynamical systems called integral continuous-time hybrid automata (icHA) for which we propose an event-driven optimization-based control strategy. Events include both external actions applied to the system and changes of continuous dynamics (mode switches). The icHA formalism subsumes a number of hybrid dynamical systems with practical interest, e.g., linear hybrid automata. Different cost functions, including minimum-time and minimum-effort criteria, and constraints are examined in the event-driven optimal control formulation. This is translated into a finite-dimensional mixed-integer optimization problem, in which the event instants and the corresponding values of the control input are the optimization variables. As a consequence, the proposed approach has the advantage of automatically adjusting the attention of the controller to the frequency of event occurrence in the hybrid process. A receding horizon control scheme exploiting the event-based optimal control formulation is proposed as a feedback control strategy and proved to ensure either finite-time or asymptotic convergence of the closed-loop.