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Simultaneous Optimization of Continuous Control Inputs and Discrete State Waypoints

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Hybrid Systems: Computation and Control (HSCC 2006)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 3927))

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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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Author information

Authors and Affiliations

  1. Tokyo Institute of Technology, Tokyo, 152-8552, Japan

    Jun-ichi Imura & Hiromichi Matsushima

Authors
  1. Jun-ichi Imura
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  2. Hiromichi Matsushima
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Editor information

Editors and Affiliations

  1. Center for Control, Dynamical Systems and Computation, University of California, 93106, Santa Barbara, CA, USA

    João P. Hespanha

  2. SRI International, 333 Ravenswood Ave, Menlo Park, CA, USA

    Ashish Tiwari

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© 2006 Springer-Verlag Berlin Heidelberg

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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

  • eBook Packages: Computer ScienceComputer Science (R0)

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