Consistent Approximations for the Optimal Control of Constrained Switched Systems-Part 2: An Implementable Algorithm
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...
Main Authors: | , , , |
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Other Authors: | |
Format: | Article |
Language: | English |
Published: |
Society for Industrial and Applied Mathematics,
2014-04-04T18:17:20Z.
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Subjects: | |
Online Access: | Get fulltext |
Summary: | 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) |
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