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Nonlinear hybrid dynamical systems: modeling, optimal control, and applications

Buss, M. ; Glocker, M. ; Hardt, M. ; Stryk, Oskar von ; Bulirsch, R. ; Schmidt, G.
Nonlinear hybrid dynamical systems: modeling, optimal control, and applications.
In: Lecture Notes in Control and Information Sciences (LNCIS), 279
Artikel, Bibliographie

Kurzbeschreibung (Abstract)

Nonlinear hybrid dynamical systems are the main focus of this paper. A modeling framework is proposed, feedback control strategies and numerical solution methods for optimal control problems in this setting are introduced, and their implementation with various illustrative applications are presented. Hybrid dynamical systems are characterized by discrete event and continuous dynamics which have an interconnected structure and can thus represent an extremely wide range of systems of practical interest. Consequently, many modeling and control methods have surfaced for these problems. This work is particularly focused on systems for which the degree of discrete/continuous interconnection is comparatively strong and the continuous portion of the dynamics may be highly nonlinear and of high dimension. The hybrid optimal control problem is defined and two solution techniques for obtaining suboptimal solutions are presented (both based on numerical direct collocation for continuous dynamic optimization): one fixes interior point constraints on a grid, another uses branch-and-bound. These are applied to a robotic multi-arm transport task, an underactuated robot arm, and a benchmark motorized traveling salesman problem.

Typ des Eintrags: Artikel
Erschienen: 2002
Herausgeber: Engell, S. ; Frehse, G. ; Schnieder, E.
Autor(en): Buss, M. ; Glocker, M. ; Hardt, M. ; Stryk, Oskar von ; Bulirsch, R. ; Schmidt, G.
Art des Eintrags: Bibliographie
Titel: Nonlinear hybrid dynamical systems: modeling, optimal control, and applications
Sprache: Englisch
Publikationsjahr: 2002
Verlag: Springer-Verlag
Titel der Zeitschrift, Zeitung oder Schriftenreihe: Lecture Notes in Control and Information Sciences (LNCIS)
Jahrgang/Volume einer Zeitschrift: 279
Buchtitel: Modelling, Analysis and Design of Hybrid Systems
Reihe: Lecture Notes in Control and Information Sciences (LNCIS)
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Kurzbeschreibung (Abstract):

Nonlinear hybrid dynamical systems are the main focus of this paper. A modeling framework is proposed, feedback control strategies and numerical solution methods for optimal control problems in this setting are introduced, and their implementation with various illustrative applications are presented. Hybrid dynamical systems are characterized by discrete event and continuous dynamics which have an interconnected structure and can thus represent an extremely wide range of systems of practical interest. Consequently, many modeling and control methods have surfaced for these problems. This work is particularly focused on systems for which the degree of discrete/continuous interconnection is comparatively strong and the continuous portion of the dynamics may be highly nonlinear and of high dimension. The hybrid optimal control problem is defined and two solution techniques for obtaining suboptimal solutions are presented (both based on numerical direct collocation for continuous dynamic optimization): one fixes interior point constraints on a grid, another uses branch-and-bound. These are applied to a robotic multi-arm transport task, an underactuated robot arm, and a benchmark motorized traveling salesman problem.

Zusätzliche Informationen:

(Lecture notes in control and information sciences; 279), ISBN 3-540-43812-2.- S. 311-335 Modelling, Analysis and Design of Hybrid Systems

Fachbereich(e)/-gebiet(e): 20 Fachbereich Informatik
20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik
Hinterlegungsdatum: 20 Jun 2016 23:26
Letzte Änderung: 16 Mai 2019 08:39
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