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

Chair of Automatic Control Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

13 Scopus citations

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.

Original language	English
Title of host publication	2010 49th IEEE Conference on Decision and Control, CDC 2010
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4223-4229
Number of pages	7
ISBN (Print)	9781424477456
DOIs	https://doi.org/10.1109/CDC.2010.5717264
State	Published - 2010
Event	49th IEEE Conference on Decision and Control, CDC 2010 - Atlanta, United States Duration: 15 Dec 2010 → 17 Dec 2010

Publication series

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

Conference

Conference	49th IEEE Conference on Decision and Control, CDC 2010
Country/Territory	United States
City	Atlanta
Period	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 (pp. 4223-4229). Article 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. pp. 4223-4229 (Proceedings of the IEEE Conference on Decision and Control).

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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.}",

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doi = "10.1109/CDC.2010.5717264",

language = "English",

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

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

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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., pp. 4223-4229, 49th IEEE Conference on Decision and Control, CDC 2010, Atlanta, United States, 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. p. 4223-4229 5717264 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Buss, Martin

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PY - 2010

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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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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. p. 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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