Title :
LQR optimization of linear system switching
Author :
Lincoln, Bo ; Bernhardsson, Bo
Author_Institution :
Dept. of Autom. Control, Lund Inst. of Technol., Sweden
fDate :
10/1/2002 12:00:00 AM
Abstract :
Considers offline optimization of a switching sequence for a given finite set of linear control systems, together with joint optimization of control laws. A linear quadratic full information criterion is optimized and dynamic programming is used to find an optimal switching sequence and control law. The main result is a method for efficient pruning of the search tree to avoid combinatoric explosion. A method to prove optimality of a found candidate switch sequence and corresponding control laws is presented.
Keywords :
dynamic programming; linear quadratic control; linear systems; sequences; tree searching; LQR optimization; combinatoric explosion; control laws optimization; dynamic programming; hybrid systems; linear control systems; linear quadratic full information criterion; linear system switching; offline optimization; optimal control law; optimal switching sequence; optimality; pruning; scheduling; search tree; switching sequence; Automatic control; Bluetooth; Communication system control; Control systems; Costs; Covariance matrix; Explosions; Linear systems; Optimal control; Switches;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2002.803539
