Output-Based optimal timing control of switched systems

Authors:
Shun-ichi Azuma;Magnus Egerstedt;Yorai Wardi
Affiliations:
Graduate School of Informatics, Kyoto University, Uji, Kyoto, Japan;School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA;School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA
Venue:
HSCC'06 Proceedings of the 9th international conference on Hybrid Systems: computation and control
Year:
2006

Citing 2
Cited 2

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Noncausal Optimal Tracking of Linear Switched Systems

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On-line optimization of switched-mode hybrid dynamical systems

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Abstract

Optimal switch-time control is an area that investigates how best to switch between different control modes. In this paper we present an algorithm for solving the optimal switch-time control problem for nonlinear systems where the state is only partially known through the outputs. A method is presented that both guarantees that the current switch-time estimates remain optimal as the state estimates evolve, and that ensures this in a computationally feasible manner, thus rendering the method applicable to real-time applications. The viability of the proposed method is illustrated through a number of examples.