Beyond the Construction of Optimal switching surfaces for Autonomous Hybrid Systems
Beyond the Construction of Optimal switching surfaces for Autonomous Hybrid Systems
复制标题
超越自主混合系统的最佳切换表面的构建
DOI：
10.3182/20060607-3-it-3902.00021
复制
发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Y. Wardi
中科院分区：
文献类型：
--
作者：
M. Boccadoro;M. Egerstedt;P. Valigi;Y. Wardi
摘要在本文中，我们报告的技术，设计最优反馈控制律的混合动力系统的自治（连续）模式。现有技术基于系统的奇异样本演化设计最佳切换面;因此提供了取决于初始条件的解决方案。另一方面，可以找到最佳切换时间，为系统提供开环控制，但这些也取决于初始条件。所提出的技术依赖于变分方法，给出相对于初始条件的切换时间的导数，从而提供了一种工具来设计程序/算法生成切换表面，其对于系统的任何可能的执行是最优的。
Abstract In this paper we report of a technique to design optimal feedback control laws for hybrid systems with autonomous (continuous) modes. Existing techniques design the optimal switching surfaces based on a singular sample evolution of the system; hence providing a solution dependent on the initial conditions. On the other hand, the optimal switching times can be found, providing an an open loop control to the system, but those also are dependent on the initial conditions. The technique presented relies on a variational approach, giving the derivative of the switching times with respect to the initial conditions, thus providing a tool to design programs/algorithms generating switching surfaces which are optimal for any possible execution of the system.