Optimal control of switching times in switched linear systems
Switching time optimization arises in finitehorizon optimal control for switched systems where, given a sequence of continuous dynamics, we minimize a cost function with respect to the switching times. In this paper we propose an efficient method for computing optimal switching times in switched lin...
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| Format: | Conference item |
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Institute of Electrical and Electronics Engineers
2016
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| _version_ | 1797097041047846912 |
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| author | Stellato, B Goulart, P Ober-Blöbaum, S |
| author_facet | Stellato, B Goulart, P Ober-Blöbaum, S |
| author_sort | Stellato, B |
| collection | OXFORD |
| description | Switching time optimization arises in finitehorizon optimal control for switched systems where, given a sequence of continuous dynamics, we minimize a cost function with respect to the switching times. In this paper we propose an efficient method for computing optimal switching times in switched linear systems. We derive simple expressions for the cost function, the gradient and the Hessian which can be computed efficiently online without performing any integration. With the proposed method, the most expensive computations are decomposed into independent scalar exponentials which can be efficiently computed and parallelized. Simulation results show that our method is able to provide fast convergence and handle efficiently a high number switching times. |
| first_indexed | 2024-03-07T04:50:00Z |
| format | Conference item |
| id | oxford-uuid:d4a0eb6e-9720-4fcc-925f-8d86077a4b8a |
| institution | University of Oxford |
| last_indexed | 2024-03-07T04:50:00Z |
| publishDate | 2016 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | oxford-uuid:d4a0eb6e-9720-4fcc-925f-8d86077a4b8a2022-03-27T08:19:55ZOptimal control of switching times in switched linear systemsConference itemhttp://purl.org/coar/resource_type/c_5794uuid:d4a0eb6e-9720-4fcc-925f-8d86077a4b8aSymplectic Elements at OxfordInstitute of Electrical and Electronics Engineers2016Stellato, BGoulart, POber-Blöbaum, SSwitching time optimization arises in finitehorizon optimal control for switched systems where, given a sequence of continuous dynamics, we minimize a cost function with respect to the switching times. In this paper we propose an efficient method for computing optimal switching times in switched linear systems. We derive simple expressions for the cost function, the gradient and the Hessian which can be computed efficiently online without performing any integration. With the proposed method, the most expensive computations are decomposed into independent scalar exponentials which can be efficiently computed and parallelized. Simulation results show that our method is able to provide fast convergence and handle efficiently a high number switching times. |
| spellingShingle | Stellato, B Goulart, P Ober-Blöbaum, S Optimal control of switching times in switched linear systems |
| title | Optimal control of switching times in switched linear systems |
| title_full | Optimal control of switching times in switched linear systems |
| title_fullStr | Optimal control of switching times in switched linear systems |
| title_full_unstemmed | Optimal control of switching times in switched linear systems |
| title_short | Optimal control of switching times in switched linear systems |
| title_sort | optimal control of switching times in switched linear systems |
| work_keys_str_mv | AT stellatob optimalcontrolofswitchingtimesinswitchedlinearsystems AT goulartp optimalcontrolofswitchingtimesinswitchedlinearsystems AT oberblobaums optimalcontrolofswitchingtimesinswitchedlinearsystems |