Title:
Optimal Control of Switched Dynamical Systems Under Dwell Time Constraints
Optimal Control of Switched Dynamical Systems Under Dwell Time Constraints
| dc.contributor.author | Ali, Usman | |
| dc.contributor.author | Egerstedt, Magnus B. | |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Electrical and Computer Engineering | en_US |
| dc.contributor.corporatename | Georgia Institute of Technology. Institute for Robotics and Intelligent Machines | en_US |
| dc.date.accessioned | 2015-03-24T19:58:01Z | |
| dc.date.available | 2015-03-24T19:58:01Z | |
| dc.date.issued | 2014-12 | |
| dc.description | © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, 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 component of this work in other works. | en_US |
| dc.description | Presented at the 2014 IEEE 53rd Annual Conference on Decision and Control (CDC), December 15-17, 2014, Los Angeles, CA. | |
| dc.description | DOI: 10.1109/CDC.2014.7040117 | |
| dc.description.abstract | This paper addresses the problem of optimally scheduling the mode sequence and mode duration for switched dynamical systems under dwell time constraints that describe how long a system has to stay in a mode before they can switch to another mode. The schedule should minimize a given cost functional defined on the state trajectory. The topology of the optimization space for switched dynamical systems with and without dwell time constraints is investigated and it is shown that the notion of local optimality must be replaced by stationarity with regards to a suitably chosen optimality function when dwell time constraints are present. Hence, an optimality function is proposed to characterize the solution to the dwell time problem as points that satisfy optimality condition defined in terms of optimality function. A conceptual algorithm is presented to solve the mode scheduling problem and its convergence to stationary points is proved. A numerical example is given to highlight the algorithm. | en_US |
| dc.embargo.terms | null | en_US |
| dc.identifier.citation | U. Ali and M. Egerstedt. Optimal Control of Switched Dynamical Systems under Dwell-Time Constraints. IEEE Conference on Decision and Control, pp. 4673-4678. | en_US |
| dc.identifier.doi | 10.1109/CDC.2014.7040117 | |
| dc.identifier.isbn | 978-1-4799-7746-8 | |
| dc.identifier.uri | http://hdl.handle.net/1853/53237 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.publisher.original | Institute of Electrical and Electronics Engineers | |
| dc.subject | Dwell time constraint | en_US |
| dc.subject | Minimum dwell time | en_US |
| dc.subject | Mode insertion | en_US |
| dc.subject | Optimal control | en_US |
| dc.title | Optimal Control of Switched Dynamical Systems Under Dwell Time Constraints | en_US |
| dc.type | Text | |
| dc.type.genre | Post-print | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Egerstedt, Magnus B. | |
| local.contributor.corporatename | School of Electrical and Computer Engineering | |
| local.contributor.corporatename | College of Engineering | |
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