Title :
Control input synthesis for hybrid systems using informed search
Author :
Schmidt, Klaus ; Kapinski, James ; Krogh, Bruce H.
Author_Institution :
Dept. of Electr. & Comput. Eng., Carnegie Mellon Univ., Pittsburgh, PA
Abstract :
We present a method for synthesizing a sequence of robust control inputs for a class of hybrid systems. Our goal is the generation of a control sequence that drives the system from a given initial state set to a pre-specified goal set without violating constraints on the system state, under the assumption that the hybrid system is exposed to bounded disturbances. We use a technique that combines dynamic programming and informed search. The control sequence generated by our synthesis procedure is guaranteed to meet safety requirements. An extension to nonlinear systems is presented and computational time is compared to a mixed-integer programming approach for computing an optimal but non-robust solution to the problem
Keywords :
approximation theory; control system synthesis; integer programming; nonlinear control systems; nonlinear dynamical systems; optimal control; robust control; search problems; approximation theory; bounded disturbances; computational time; control sequence generation; dynamic programming; hybrid systems; informed search problems; mixed integer programming method; nonlinear systems; optimal control; robust control input synthesis; Control system synthesis; Control systems; Drives; Dynamic programming; Hybrid power systems; Nonlinear dynamical systems; Nonlinear systems; Robust control; Safety; State-space methods;
Conference_Titel :
Computer Aided Control Systems Design, 2004 IEEE International Symposium on
Conference_Location :
Taipei
Print_ISBN :
0-7803-8636-1
DOI :
10.1109/CACSD.2004.1393848
