Optimal Control for Hybrid Systems With Partitioned State Space

摘要: For hybrid systems where the continuous state space is partitioned by switching manifolds, discrete changes autonomously if hits a manifold. Recently, we introduced version of minimum principle for optimal control such systems, necessary optimality conditions were provided case that trajectory passes through intersection manifolds . Further, an algorithm based on these computing controls varying not only gradient information, but also sequence states It was shown that, combinatorial complexity former computational schemes can be avoided, since all possible sequences need to analyzed separately. In this note, theoretical aspects and practical considerations successful implementation are discussed in detail. comparison existing algorithms solution problems with autonomous presented. The efficiency proposed demonstrated novel numerical example.