Optimal control of piece-wise polynomial hybrid systems using cylindrical algebraic decomposition

  • Authors:

  • Ioannis A. Fotiou;A. Giovanni Beccuti;Georgios Papafotiou;Manfred Morari

  • Affiliations:

  • Automatic Control Laboratory, Swiss Federal Institute of Technology (ETH), Zürich, Switzerland;Automatic Control Laboratory, Swiss Federal Institute of Technology (ETH), Zürich, Switzerland;Automatic Control Laboratory, Swiss Federal Institute of Technology (ETH), Zürich, Switzerland;Automatic Control Laboratory, Swiss Federal Institute of Technology (ETH), Zürich, Switzerland

  • Venue:
  • HSCC'06 Proceedings of the 9th international conference on Hybrid Systems: computation and control
  • Year:
  • 2006

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Abstract

We present a new method to solve the constrained finite-time optimal control (CFTOC) problem for piece-wise polynomial (PWP) hybrid systems, based on Cylindrical Algebraic Decomposition (CAD). The computational approach consists of two parts. The off-line, where the method re-formulates the original CFTOC optimization problem in algebraic form, decomposes it into smaller subproblems and then independently pre-processes each subproblem to obtain certain structural information, and the on-line, where this available precomputed information is used to efficiently compute the optimal solution of the original problem in real time. The method is illustrated through its application to the control of a boost dc-dc converter.