Title:
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
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
egerstedt_IEEE_2010_902.pdf
Size:
141.5 KB
Format:
Adobe Portable Document Format
Description: