Consistent Approximations for the Optimal Control of Constrained Switched Systems-Part 2: An Implementable Algorithm

• Main Authors: Vasudevan, Ram (Contributor), Gonzalez, Humberto (Author), Bajcsy, Ruzena (Author), Sastry, S. Shankar (Author)
• Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory (Contributor)
• Format: Article
• Language: English
• Published: Society for Industrial and Applied Mathematics, 2014-04-04T18:17:20Z.
• Subjects: Article
• Online Access: Get fulltext

In the first part of this two-paper series, we presented a conceptual algorithm for the optimal control of constrained switched systems and proved that this algorithm generates a sequence of points that converge to a necessary condition for optimality. However, since our algorithm requires the exact solution of a differential equation, the numerical implementation of this algorithm is impractical. In this paper, we address this shortcoming by constructing an implementable algorithm that discretizes the differential equation, producing a finite-dimensional nonlinear program. We prove that this implementable algorithm constructs a sequence of points that asymptotically satisfy a necessary condition for optimality for the constrained switched system optimal control problem. Four simulation experiments are included to validate the theoretical developments.
National Science Foundation (U.S.) (award ECCS-0931437)