Abstract
Optimal switch-time control is an area that investigates how best to switch between different control modes. In this paper we present an algorithm for solving the optimal switch-time control problem for nonlinear systems where the state is only partially known through the outputs. A method is presented that both guarantees that the current switch-time estimates remain optimal as the state estimates evolve, and that ensures this in a computationally feasible manner, thus rendering the method applicable to real-time applications. The viability of the proposed method is illustrated through a number of examples.
This work was supported by the National Science Foundation through grant #0509064.
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Azuma, Si., Egerstedt, M., Wardi, Y. (2006). Output-Based Optimal Timing Control of Switched Systems. In: Hespanha, J.P., Tiwari, A. (eds) Hybrid Systems: Computation and Control. HSCC 2006. Lecture Notes in Computer Science, vol 3927. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11730637_8
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DOI: https://doi.org/10.1007/11730637_8
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