Abstract
This paper addresses the receding horizon control problem of continuous-time linear systems with respect to continuous control inputs and discrete state waypoints under discrete-dynamical constraints. First, a generalized version of our previous method is described, where a discretization technique is applied only for the constrained state variables. Next, it is proven that the problem is reduced to the finite-time optimal control problem of a certain discrete-time linear system with discrete-valued inputs. Finally, a new efficient algorithm for solving this optimization problem is proposed. Several numerical simulations show that this solver is much faster than the CPLEX solver.
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Imura, Ji., Matsushima, H. (2006). Simultaneous Optimization of Continuous Control Inputs and Discrete State Waypoints. In: Hespanha, J.P., Tiwari, A. (eds) Hybrid Systems: Computation and Control. HSCC 2006. Lecture Notes in Computer Science, vol 3927. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11730637_24
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DOI: https://doi.org/10.1007/11730637_24
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-33170-4
Online ISBN: 978-3-540-33171-1
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