基于知情搜索的混合系统控制输入综合

2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508) Pub Date : 2004-09-02 DOI:10.1109/CACSD.2004.1393848

K. Schmidt, J. Kapinski, B. Krogh

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引用次数: 1

摘要

提出了一类混合系统鲁棒控制输入序列的合成方法。我们的目标是生成一个控制序列，在混合系统暴露于有界干扰的假设下，在不违反系统状态约束的情况下，将系统从给定的初始状态集驱动到预先指定的目标集。我们使用一种结合了动态规划和知情搜索的技术。我们的合成程序生成的控制序列保证满足安全要求。将其推广到非线性系统，并将计算时间与混合整数规划方法进行了比较，以计算问题的最优但非鲁棒解

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Control input synthesis for hybrid systems using informed search

We present a method for synthesizing a sequence of robust control inputs for a class of hybrid systems. Our goal is the generation of a control sequence that drives the system from a given initial state set to a pre-specified goal set without violating constraints on the system state, under the assumption that the hybrid system is exposed to bounded disturbances. We use a technique that combines dynamic programming and informed search. The control sequence generated by our synthesis procedure is guaranteed to meet safety requirements. An extension to nonlinear systems is presented and computational time is compared to a mixed-integer programming approach for computing an optimal but non-robust solution to the problem

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来源期刊

2004 IEEE International Conference on Robotics and Automation (IEEE Cat. No.04CH37508)

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