Article

Optimal Control of Constrained, Piecewise Affine Systems With

09/2002;
Source: CiteSeer

ABSTRACT The solution to the problem of optimal control of piecewise affine systems with a bounded disturbance is characterised. Results that allow one to compute the value function, its domain (robustly controllable set) and the optimal control law are presented. The tools that are employed include dynamic programming, polytopic set algebra and parametric programming. When the cost is time (robust time-optimal control problem) or the stage cost is piecewise affine (robust optimal and robust receding horizon control problems), the value function and the optimal control law are both piecewise affine and each robustly controllable set is the union of a finite set of polytopes. Conditions on the cost and constraints are also proposed in order to ensure that the optimal control laws are robustly stabilising.

0 0
 · 
0 Bookmarks
 · 
24 Views
Data provided are for informational purposes only. Although carefully collected, accuracy cannot be guaranteed. The impact factor represents a rough estimation of the journal's impact factor and does not reflect the actual current impact factor. Publisher conditions are provided by RoMEO. Differing provisions from the publisher's actual policy or licence agreement may be applicable.

Keywords

allow one
 
bounded disturbance
 
Conditions
 
dynamic programming
 
finite
 
horizon control problems
 
optimal control
 
optimal control law
 
optimal control laws
 
piecewise affine
 
piecewise affine systems
 
robust
 
robust optimal
 
robust time-optimal control problem
 
robustly controllable
 
stage cost
 
value function
 

Eric C. Kerrigan