Consistent Approximations for the Optimal Control of Constrained Switched Systems-Part 2: An Implementable Algorithm
Name
Vasudevan-2013-CONSISTENT APPROXIMA.pdf
Size
822.47 KB
Format
Adobe PDF
Checksum (MD5)
e0bed9e43b1489ffe670006331c84f18
Author(s)
Vasudevan, Ram
Gonzalez, Humberto
Bajcsy, Ruzena
Sastry, S. Shankar
Date Issued
January 2013
Journal
SIAM Journal on Control and Optimization
Publisher
Society for Industrial and Applied Mathematics
Citation
Vasudevan, Ramanarayan, et al. "Consistent Approximations for the Optimal Control of Constrained Switched Systems-Part 2: An Implementable Algorithm." Siam Journal on Control and Optimization 51 6 (2013): 4484-503.
Version
Final published version
Abstract
In the first part of this two-paper series, we presented a conceptual algorithm for the optimal control of constrained switched systems and proved that this algorithm generates a sequence of points that converge to a necessary condition for optimality. However, since our algorithm requires the exact solution of a differential equation, the numerical implementation of this algorithm is impractical. In this paper, we address this shortcoming by constructing an implementable algorithm that discretizes the differential equation, producing a finite-dimensional nonlinear program. We prove that this implementable algorithm constructs a sequence of points that asymptotically satisfy a necessary condition for optimality for the constrained switched system optimal control problem. Four simulation experiments are included to validate the theoretical developments.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1137/120901507
