Convex dynamic programming for hybrid systems
Tóm tắt
A classical linear programming approach to optimization of flow or transportation in a discrete graph is extended to hybrid systems. The problem is finite dimensional if the state space is discrete and finite, but becomes infinite dimensional for a continuous or hybrid state space. It is shown how strict lower bounds on the optimal loss function can be computed by gridding the continuous state space and restricting the linear program to a finite-dimensional subspace. Upper bounds can be obtained by evaluation of the corresponding control laws.
Từ khóa
#Dynamic programming #Automatic control #Marine vehicles #Adaptive control #Robot control #Mobile robots #Control systems #Cybernetics #Programmable control #BacksteppingTài liệu tham khảo
hedlund, 1999, optimal control of hybrid systems, IEEE Conf Decision and Control
10.1145/225058.225162
koopmans, 1947, optimum utilization of the transportation system, Int Statistical Conf
10.1109/CDC.1999.832811
rachev, 1998, Mass Transporation Problems, i
10.1109/9.847100
10.1109/ICSMC.1999.814085
sussmann, 1999, a maximum principle for hybrid optimal control problems, 27th IEEE Decision Control Conf, 425
10.1109/TAC.1977.1101446
10.1137/0331024
bensoussan, 1997, hybrid control and dynamic programming, Dyna Continuous Discrete Impul Syst, 3, 395
bemporad, 1999, verification of hybrid systems via mathematical programming, Hybrid Systems Computation and Control 2nd Int Workshop, 10.1007/3-540-48983-5_7
10.1109/9.664150
bertsekas, 1996, Neuro-Dynamic Programming
10.1080/00207178908559761
10.1109/CDC.1995.478514
10.1109/TAC.1998.664148
ford, 1962, Flows in Networks
10.1109/CDC.1997.650717