On the optimal control of hybrid systems: optimization of trajectories, switching times, and location schedules

摘要: A class of hybrid optimal control problems is formulated and a set necessary conditions for system trajectory optimality presented. These constitute generalizations the standard Maximum Principle (MP). Employing these conditions, we propose general Hybrid (HMP) based algorithms systems optimization; associated theory appear to be significantly simpler than some recently proposed (see [13], [14], example). Using results from penalty function methods Ekeland's variational principle show convergence under reasonable assumptions. The efficacy illustrated via several computational examples.