Transition-Time Optimization for Switched Systems
| Authors: | Axelsson Henrik, Georgia Inst. of Technology, United States
Wardi Yorai, Georgia Inst. of Technology, United States
Egerstedt Magnus, Georgia Inst. of Technology, United States |
|---|
| Topic: | 2.4 Optimal Control |
|---|
| Session: | Optimal Control Theory and Design Methods |
|---|
| Keywords: | Hybrid systems, switched dynamical systems, optimal control, optimization theory, gradient-descent algorithms. |
|---|
Abstract
This paper proposes an algorithmic framework for optimal mode switches in hybrid dynamical systems. The problem is cast in the setting of optimal control, whose variable parameter consists of the switching times, and whose associated cost criterion is a functional of the state trajectory. The number of switching times (and hence of switching modes) is also a variable which may be unbounded, and therefore the optimization problem is not defined on a single metric space. Rather, it is defined on a sequence of spaces of possibly increasing dimensions. The paper characterizes optimality in terms of sequences of optimality functions and proposes an algorithm that is demonstrably convergent in this context.
