Generalized Contact Constraints of Hybrid Trajectory optimization for Different Terrains and Analysis of Sensitivity to Randomized Initial Guesses

Chao, Kenneth; Hur, Pilwon

doi:10.1109/iros40897.2019.8967979

Cited by 1 publication

(1 citation statement)

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“…One of the controversial problems in switching systems is the optimal control problem (OCP). Hybrid switching system optimal control problems (HSSOCP) arises in a range of applications such as aircraft planning, 8,9 humanoid robots, 10‐12 space mission control, 13‐16 hybrid vehicles, 17‐19 hybrid power system, 20 pesticide scheduling, 21 fermentation process, 22 and so on. Optimal control for an HSS is to optimally find three important items: continuous control input trajectory for different modes, optimal mode sequence, and optimal switching times.…”

Section: Introductionmentioning

confidence: 99%

A gradient algorithm for solution of the optimal control problem for hybrid switching systems

Salehi

Tavassoli

2020

Optim Control Appl Methods

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Summary In this article, an algorithm is presented for solving the optimal control problem for the general form of a hybrid switching system. The cost function comprises terminal, running and switching costs. The controlled system is an autonomous hybrid switching system with jumps either at some switching times or some time varying switching manifolds. The proposed algorithm is an extension of the first‐order gradient method for the conventional optimal control problem. The algorithm requires a low computational effort. The system's dynamical equations together with a set of algebraic equations are solved at each iteration in order to find the descent direction. The convergence of algorithm is proved and examples are provided to demonstrate the efficiency of the algorithm for different types of hybrid switching system optimal control problems.

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