Title:
On-line Optimal Timing Control of Switched Systems
On-line Optimal Timing Control of Switched Systems
dc.contributor.author | Wardi, Yorai Y. | en_US |
dc.contributor.author | Egerstedt, Magnus B. | en_US |
dc.contributor.author | Twu, Philip Y. | en_US |
dc.contributor.corporatename | Georgia Institute of Technology. School of Electrical and Computer Engineering | en_US |
dc.contributor.corporatename | Georgia Institute of Technology. Center for Robotics and Intelligent Machines | en_US |
dc.date.accessioned | 2012-02-13T20:46:45Z | |
dc.date.available | 2012-02-13T20:46:45Z | |
dc.date.issued | 2010-12 | |
dc.description | © 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | en_US |
dc.description | Presented at the 49th IEEE Conference on Decision and Control, December 15-17, 2010, Hilton Atlanta Hotel, Atlanta, GA, USA. | en_US |
dc.description | DOI: 10.1109/CDC.2010.5717840 | |
dc.description.abstract | This paper considers a real-time algorithm for performance optimization of switched-mode hybrid dynamical systems. The controlled parameter consists of the switching times between the modes, and the cost criterion has the form of the integral of a performance function defined on the system's state trajectory. The dynamic response functions (state equations) associated with the modes are not known in advance; rather, at each time t, they are estimated for all future times s ≥ t. A first-order algorithm is proposed and its behavior is analyzed in terms of its convergence rate. Finally, an example of a mobile robot tracking a moving target while avoiding obstacles is presented. | en_US |
dc.identifier.citation | Y. Wardi, P. Twu, and M. Egerstedt, "On-line Optimal Timing Control of Switched Systems," IEEE Conference on Decision and Control, Atlanta, GA, Dec. 2010. | en_US |
dc.identifier.isbn | 978-1-4244-7745-6 | |
dc.identifier.issn | 0743-1546 | |
dc.identifier.uri | http://hdl.handle.net/1853/42612 | |
dc.language.iso | en_US | en_US |
dc.publisher | Georgia Institute of Technology | en_US |
dc.publisher.original | Institute of Electrical and Electronics Engineers | en_US |
dc.subject | Convergence rate | en_US |
dc.subject | Dynamic response function | en_US |
dc.subject | Algorithms | en_US |
dc.subject | Mobile robots | en_US |
dc.title | On-line Optimal Timing Control of Switched Systems | en_US |
dc.type | Text | |
dc.type.genre | Proceedings | |
dc.type.genre | Post-print | |
dspace.entity.type | Publication | |
local.contributor.author | Wardi, Yorai Y. | |
local.contributor.author | Egerstedt, Magnus B. | |
local.contributor.corporatename | School of Electrical and Computer Engineering | |
local.contributor.corporatename | College of Engineering | |
relation.isAuthorOfPublication | 5521540a-c8f2-4cd8-b736-26c0e4b5b154 | |
relation.isAuthorOfPublication | dd4872d3-2e0d-435d-861d-a61559d2bcb6 | |
relation.isOrgUnitOfPublication | 5b7adef2-447c-4270-b9fc-846bd76f80f2 | |
relation.isOrgUnitOfPublication | 7c022d60-21d5-497c-b552-95e489a06569 |
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