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Hybrid optimal control of motorized traveling salesmen and beyond

Glocker, Markus and Stryk, Oskar von (2002):
Hybrid optimal control of motorized traveling salesmen and beyond.
In: International Federation of Automatic Control: Proceedings of the 15th world congress, Barcelona, Spain, July 21-26, 2002.- S. 987-992, [Conference or Workshop Item]

Abstract

Numerical methods for optimal control of hybrid dynamical systems are considered where the discrete dynamics and the nonlinear continuous dynamics are tightly coupled. A decomposition approach for numerically solving general mixed-integer continuous optimal control problems (MIOCPs) is discussed. In the outer optimization loop a branch-and-bound binary tree search is used for the discrete variables. The multiple-phase optimal control problems for the continuous state and control variables in the inner optimization loop are solved by a sparse direct collocation transcription method. A genetic algorithm is applied to improve the performance of the branch-and-bound approach by providing a good initial upper bound on the MIOCP performance index. Results are presented for motorized traveling salesmen problems, new benchmark problems in hybrid optimal control.

Item Type: Conference or Workshop Item
Erschienen: 2002
Creators: Glocker, Markus and Stryk, Oskar von
Title: Hybrid optimal control of motorized traveling salesmen and beyond
Language: English
Abstract:

Numerical methods for optimal control of hybrid dynamical systems are considered where the discrete dynamics and the nonlinear continuous dynamics are tightly coupled. A decomposition approach for numerically solving general mixed-integer continuous optimal control problems (MIOCPs) is discussed. In the outer optimization loop a branch-and-bound binary tree search is used for the discrete variables. The multiple-phase optimal control problems for the continuous state and control variables in the inner optimization loop are solved by a sparse direct collocation transcription method. A genetic algorithm is applied to improve the performance of the branch-and-bound approach by providing a good initial upper bound on the MIOCP performance index. Results are presented for motorized traveling salesmen problems, new benchmark problems in hybrid optimal control.

Series Name: International Federation of Automatic Control: Proceedings of the 15th world congress, Barcelona, Spain, July 21-26, 2002.- S. 987-992
Uncontrolled Keywords: nonlinear hybrid dynamical systems, mixed-integer optimal control, branch-and-bound, direct collocation transcription, sparse sequential quadratic programming, motorized traveling salesmen, genetic algorithm
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Nov 2008 08:15
License: [undefiniert]
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