engleski

Constrained Optimal Control of Hybrid Systems with a Linear Performance Index

We consider the constrained finite and infinite time optimal control problem for the class of discrete-time linear hybrid systems. When a linear performance index is used the finite and infinite time optimal solution is a piecewise affine state feedback control law. In this paper we present algorithms that compute the optimal solution to both problems in a computationally efficient manner and with guaranteed convergence and error bounds. Both algorithms combine a dynamic programming exploration strategy with multi-parametric linear programming and basic polyhedral manipulation.

constrained systems; finite time; infinite time; optimal control; discrete-time; hybrid systems; piecewise affine systems; dynamic programming; multi-parametric linear program

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