A descent algorithm for the optimal control of constrained nonlinear switched dynamical systems
Proceedings of the 13th ACM international conference on Hybrid systems: computation and control
On an Optimization Problem for a Class of Impulsive Hybrid Systems
Discrete Event Dynamic Systems
Switching mode generation and optimal estimation with application to skid-steering
Automatica (Journal of IFAC)
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In this contribution, we introduce an optimal control problem for hybrid Lagrangian control systems. The dynamics of these systems and their discrete approximations are derived via a hybrid variational principle which is based on the Lagrange-d'Alembert principle for continuous Lagrangian control systems. Optimal control problems are stated in a continuous and in a numerically treatable, i.e. discrete version. For the implementation, we present a two layer approach which decouples the continuous parts of a hybrid trajectory. Additionally, this enables us to solve the optimal control problem also for multiple objectives. The approach is exemplified for a simple mechanical system.