This contribution addresses the task of computing optimal control trajectories for hybrid systems with switching dynamics. Starting from a continuous-time formulation of the control task we derive an optimization problem in which the system behavior is modelled by a hybrid automaton with linear discrete-time dynamics and discrete as well as continuous inputs. In order to transform the discrete dynamics into an equation-based form we present and compare two different approaches: one uses the ‘traditional’ M-formulation and one is based on disjunctive formulations. The control problem is then solved by mixed integer programming using a moving horizon setting. As illustrated for an example, the disjunctive formulation can lead to a considerable reduction of the computational effort.
CITATION STYLE
Stursberg, O., & Panek, S. (2002). Control of switched hybrid systems based on disjunctive formulations. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 2289, pp. 421–435). Springer Verlag. https://doi.org/10.1007/3-540-45873-5_33
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