An algorithm for discrete state sequence and trajectory optimization for hybrid systems with partitioned state space

Benjamin Passenberg; Marion Sobotka; Olaf Stursberg; Martin Buss; Peter E. Caines

doi:10.1109/CDC.2010.5717264

An algorithm for discrete state sequence and trajectory optimization for hybrid systems with partitioned state space

Benjamin Passenberg, Marion Sobotka, Olaf Stursberg, Martin Buss, Peter E. Caines

Lehrstuhl für Steuerungs- und Regelungstechnik

Publikation: Beitrag in Buch/Bericht/Konferenzband › Konferenzbeitrag › Begutachtung

12 Zitate (Scopus)

Abstract

An algorithm for hybrid optimal control is proposed that varies the discrete state sequence based on gradient information during the search for an optimal trajectory. The algorithm is developed for hybrid systems with partitioned state space. It uses a version of the hybrid minimum principle that allows optimal trajectories to pass through intersections of switching manifolds, which enables the algorithm to vary the sequence. Consequently, the combinatorial complexity of former algorithms can be avoided, since not each possible sequence has to be investigated separately anymore. The convergence of the algorithm is proven and a numerical example demonstrates the efficiency of the algorithm.

Originalsprache	Englisch
Titel	2010 49th IEEE Conference on Decision and Control, CDC 2010
Herausgeber (Verlag)	Institute of Electrical and Electronics Engineers Inc.
Seiten	4223-4229
Seitenumfang	7
ISBN (Print)	9781424477456
DOIs	https://doi.org/10.1109/CDC.2010.5717264
Publikationsstatus	Veröffentlicht - 2010
Veranstaltung	49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, USA/Vereinigte Staaten Dauer: 15 Dez. 2010 → 17 Dez. 2010

Publikationsreihe

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (elektronisch)	2576-2370

Konferenz

Konferenz	49th IEEE Conference on Decision and Control, CDC 2010
Land/Gebiet	USA/Vereinigte Staaten
Ort	Atlanta
Zeitraum	15/12/10 → 17/12/10

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10.1109/CDC.2010.5717264

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Passenberg, B., Sobotka, M., Stursberg, O., Buss, M., & Caines, P. E. (2010). An algorithm for discrete state sequence and trajectory optimization for hybrid systems with partitioned state space. in 2010 49th IEEE Conference on Decision and Control, CDC 2010 (S. 4223-4229). Artikel 5717264 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2010.5717264

Passenberg, Benjamin ; Sobotka, Marion ; Stursberg, Olaf et al. / An algorithm for discrete state sequence and trajectory optimization for hybrid systems with partitioned state space. 2010 49th IEEE Conference on Decision and Control, CDC 2010. Institute of Electrical and Electronics Engineers Inc., 2010. S. 4223-4229 (Proceedings of the IEEE Conference on Decision and Control).

@inproceedings{e074bed725fc4bf2a0bbbe64e1667821,

title = "An algorithm for discrete state sequence and trajectory optimization for hybrid systems with partitioned state space",

abstract = "An algorithm for hybrid optimal control is proposed that varies the discrete state sequence based on gradient information during the search for an optimal trajectory. The algorithm is developed for hybrid systems with partitioned state space. It uses a version of the hybrid minimum principle that allows optimal trajectories to pass through intersections of switching manifolds, which enables the algorithm to vary the sequence. Consequently, the combinatorial complexity of former algorithms can be avoided, since not each possible sequence has to be investigated separately anymore. The convergence of the algorithm is proven and a numerical example demonstrates the efficiency of the algorithm.",

author = "Benjamin Passenberg and Marion Sobotka and Olaf Stursberg and Martin Buss and Caines, {Peter E.}",

year = "2010",

doi = "10.1109/CDC.2010.5717264",

language = "English",

isbn = "9781424477456",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "4223--4229",

booktitle = "2010 49th IEEE Conference on Decision and Control, CDC 2010",

note = "49th IEEE Conference on Decision and Control, CDC 2010 ; Conference date: 15-12-2010 Through 17-12-2010",

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Passenberg, B, Sobotka, M, Stursberg, O, Buss, M & Caines, PE 2010, An algorithm for discrete state sequence and trajectory optimization for hybrid systems with partitioned state space. in 2010 49th IEEE Conference on Decision and Control, CDC 2010., 5717264, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., S. 4223-4229, 49th IEEE Conference on Decision and Control, CDC 2010, Atlanta, USA/Vereinigte Staaten, 15/12/10. https://doi.org/10.1109/CDC.2010.5717264

An algorithm for discrete state sequence and trajectory optimization for hybrid systems with partitioned state space. / Passenberg, Benjamin; Sobotka, Marion; Stursberg, Olaf et al.
2010 49th IEEE Conference on Decision and Control, CDC 2010. Institute of Electrical and Electronics Engineers Inc., 2010. S. 4223-4229 5717264 (Proceedings of the IEEE Conference on Decision and Control).

Publikation: Beitrag in Buch/Bericht/Konferenzband › Konferenzbeitrag › Begutachtung

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N2 - An algorithm for hybrid optimal control is proposed that varies the discrete state sequence based on gradient information during the search for an optimal trajectory. The algorithm is developed for hybrid systems with partitioned state space. It uses a version of the hybrid minimum principle that allows optimal trajectories to pass through intersections of switching manifolds, which enables the algorithm to vary the sequence. Consequently, the combinatorial complexity of former algorithms can be avoided, since not each possible sequence has to be investigated separately anymore. The convergence of the algorithm is proven and a numerical example demonstrates the efficiency of the algorithm.

AB - An algorithm for hybrid optimal control is proposed that varies the discrete state sequence based on gradient information during the search for an optimal trajectory. The algorithm is developed for hybrid systems with partitioned state space. It uses a version of the hybrid minimum principle that allows optimal trajectories to pass through intersections of switching manifolds, which enables the algorithm to vary the sequence. Consequently, the combinatorial complexity of former algorithms can be avoided, since not each possible sequence has to be investigated separately anymore. The convergence of the algorithm is proven and a numerical example demonstrates the efficiency of the algorithm.

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DO - 10.1109/CDC.2010.5717264

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BT - 2010 49th IEEE Conference on Decision and Control, CDC 2010

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 49th IEEE Conference on Decision and Control, CDC 2010

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ER -

Passenberg B, Sobotka M, Stursberg O, Buss M, Caines PE. An algorithm for discrete state sequence and trajectory optimization for hybrid systems with partitioned state space. in 2010 49th IEEE Conference on Decision and Control, CDC 2010. Institute of Electrical and Electronics Engineers Inc. 2010. S. 4223-4229. 5717264. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2010.5717264

An algorithm for discrete state sequence and trajectory optimization for hybrid systems with partitioned state space

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