Abstract
This paper concerns an optimal control problem defined on a class of switched-mode hybrid dynamical systems. The system's mode is changed (switched) whenever the state variable crosses a certain surface in the state space, henceforth called a switching surface. These switching surfaces are parameterized by finite-dimensional vectors called the switching parameters. The optimal control problem is to minimize a cost functional, defined on the state trajectory, as a function of the switching parameters. The paper derives the gradient of the cost functional in a costate-based formula that reflects the special structure of hybrid systems. It then uses the formula in a gradient-descent algorithm for solving an obstacle-avoidance problem in robotics.
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The work of Boccadoro has been partially supported by MIUR under Grant PRIN 2003090090.
The work of Wardi has been partly supported by a grant from the Georgia Tech Manufacturing Research Center.
The work of Egerstedt has been partly supported by the National Science Foundation under Grant \# 0237971 ECS NSF-CAREER, and by a grant from the Georgia Tech Manufacturing Research Center.
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Boccadoro, M., Wardi, Y., Egerstedt, M. et al. Optimal Control of Switching Surfaces in Hybrid Dynamical Systems. Discrete Event Dyn Syst 15, 433–448 (2005). https://doi.org/10.1007/s10626-005-4060-4
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DOI: https://doi.org/10.1007/s10626-005-4060-4