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

Buss, M. and Glocker, M. and Hardt, M. and Stryk, Oskar von and Bulirsch, R. and Schmidt, G.
Nonlinear hybrid dynamical systems: modeling, optimal control, and applications.
In: Lecture Notes in Control and Information Sciences (LNCIS), Springer-Verlag, pp. 311-335, 279, [Article]

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.

Item Type: Article
Erschienen: 2002
Editors: Engell, S. and Frehse, G. and Schnieder, E.
Creators: Buss, M. and Glocker, M. and Hardt, M. and Stryk, Oskar von and Bulirsch, R. and Schmidt, G.
Title: Nonlinear hybrid dynamical systems: modeling, optimal control, and applications
Language: English
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.

Journal or Publication Title: Lecture Notes in Control and Information Sciences (LNCIS)
Title of Book: Modelling, Analysis and Design of Hybrid Systems
Series Name: Lecture Notes in Control and Information Sciences (LNCIS)
Volume: 279
Publisher: Springer-Verlag
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Additional Information:

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

Identification Number: KONDISK:2002
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