Consistent Approximations for the Optimal Control of Constrained Switched Systems-Part 2: An Implementable Algorithm
Author(s)Vasudevan, Ram; Gonzalez, Humberto; Bajcsy, Ruzena; Sastry, S. Shankar
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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.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
SIAM Journal on Control and Optimization
Society for Industrial and Applied Mathematics
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.
Final published version