Optimal Control of Switching/Hybrid Systems with Applications to Hybrid Electric Vehicles, Dc-Dc Converters, and Autonomous Mobile Robots

Abstract

This workshop will present recently developed results on the solution of the hybrid/switched optimal control problem using the embedding method developed by Bengea and DeCarlo (Automatica, January 2005). Using a variation of the collocation method, a numerical solution of the problem via sequential quadratic programming is outlined. Using these tools and a model predictive control approach, application of the techniques to the switching control of a boost converter using a sliding mode observer is then presented followed by the model predictive control of mobile robots and groups of autonomous aerial vehicles (AUVs). Finally, a solution to the power management problem in a hybrid electric vehicle is presented with simulation studies for a variety of driving profiles including the new EPA driving profile. The examples will not only describe appropriate models, MPC control methodologies, and simulation studies, but also highlight the broader appeal of these newly developed techniques for modeling, analysis, and design of hybrid/switched systems. SCHEDULE: SEPTEMBER 2, 2008