TY - GEN
T1 - Stochastic optimal control for hybrid systems with uncertain discrete dynamics
AU - Adamek, Franziska
AU - Sobotka, Marion
AU - Stursberg, Olaf
PY - 2008
Y1 - 2008
N2 - This paper considers the task of computing (sub-) optimal continuous and discrete control trajectories for hybrid systems with a probabilistic discrete transition structure. The discrete inputs are used to block undesired transitions and to realize evolutions that are goal-attaining with high probability. An approach is proposed which combines the computation of discrete shortest-paths for given probability-levels with embedded continuous optimal control problems to fix the continuous controls. The result is a control strategy which leads to a system evolution that maximizes a weighted sum of performance and probability of success. The approach is illustrated for an automated transportation scenario.
AB - This paper considers the task of computing (sub-) optimal continuous and discrete control trajectories for hybrid systems with a probabilistic discrete transition structure. The discrete inputs are used to block undesired transitions and to realize evolutions that are goal-attaining with high probability. An approach is proposed which combines the computation of discrete shortest-paths for given probability-levels with embedded continuous optimal control problems to fix the continuous controls. The result is a control strategy which leads to a system evolution that maximizes a weighted sum of performance and probability of success. The approach is illustrated for an automated transportation scenario.
UR - http://www.scopus.com/inward/record.url?scp=54949147989&partnerID=8YFLogxK
U2 - 10.1109/COASE.2008.4626555
DO - 10.1109/COASE.2008.4626555
M3 - Conference contribution
AN - SCOPUS:54949147989
SN - 9781424420230
T3 - 4th IEEE Conference on Automation Science and Engineering, CASE 2008
SP - 23
EP - 28
BT - 4th IEEE Conference on Automation Science and Engineering, CASE 2008
T2 - 4th IEEE Conference on Automation Science and Engineering, CASE 2008
Y2 - 23 August 2008 through 26 August 2008
ER -