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Hybrid Optimal Control under Mode Switching Constraints with Applications to Pesticide Scheduling

Authors:

Magnus EgerstedtAuthors Info & Claims

ACM Transactions on Cyber-Physical Systems, Volume 2, Issue 1

Article No.: 2, Pages 1 - 17

https://doi.org/10.1145/3047411

Published: 03 January 2018 Publication History

Abstract

This paper concerns optimal mode-scheduling in autonomous switched-mode hybrid dynamical systems, where the objective is to minimize a cost-performance functional defined on the state trajectory as a function of the schedule of modes. The controlled variable, namely the modes’ schedule, consists of the sequence of modes and the switchover times between them. We propose a gradient-descent algorithm that adjusts a given mode-schedule by changing multiple modes over time-sets of positive Lebesgue measures, thereby avoiding the inefficiencies inherent in existing techniques that change the modes one at a time. The algorithm is based on steepest descent with Armijo step sizes along Gâteaux differentials of the performance functional with respect to schedule-variations, which yields effective descent at each iteration. Since the space of mode-schedules is infinite dimensional and incomplete, the algorithm’s convergence is proved in the sense of Polak’s framework of optimality functions and minimizing sequences. Simulation results are presented, and possible extensions to problems with dwell-time lower-bound constraints are discussed.

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Cited By

Geng HZhang H(2024)A new $ H_{\infty} $ control method of switched nonlinear systems with persistent dwell time: $ H_{\infty} $ fuzzy control criterion with convergence rate constraintsAIMS Mathematics10.3934/math.202412759:9(26092-26113)Online publication date: 2024
https://doi.org/10.3934/math.20241275
Zhuang SGao HShi Y(2023)Model Predictive Control of Switched Linear Systems With Persistent Dwell-Time Constraints: Recursive Feasibility and StabilityIEEE Transactions on Automatic Control10.1109/TAC.2023.324827968:12(7887-7894)Online publication date: Dec-2023
https://doi.org/10.1109/TAC.2023.3248279
Chen YLazar M(2022)An efficient MPC algorithm for switched systems with minimum dwell time constraintsAutomatica10.1016/j.automatica.2022.110453143(110453)Online publication date: Sep-2022
https://doi.org/10.1016/j.automatica.2022.110453
Show More Cited By

Index Terms

Hybrid Optimal Control under Mode Switching Constraints with Applications to Pesticide Scheduling
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Sensor networks

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Information & Contributors

Information

Published In

cover image ACM Transactions on Cyber-Physical Systems

ACM Transactions on Cyber-Physical Systems Volume 2, Issue 1

Special Issue on ICCPS 2016

January 2018

140 pages

ISSN:2378-962X

EISSN:2378-9638

DOI:10.1145/3174275

Editor:
Tei-Wei Kuo
National Taiwan University, and Academia Sinica, Taiwan

Issue’s Table of Contents

Copyright © 2018 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Journal Family

ACM Journals for the Design of Smart and Connected Systems

Publication History

Published: 03 January 2018

Accepted: 01 January 2017

Received: 01 July 2016

Published in TCPS Volume 2, Issue 1

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Cited By

Geng HZhang H(2024)A new $ H_{\infty} $ control method of switched nonlinear systems with persistent dwell time: $ H_{\infty} $ fuzzy control criterion with convergence rate constraintsAIMS Mathematics10.3934/math.202412759:9(26092-26113)Online publication date: 2024
https://doi.org/10.3934/math.20241275
Zhuang SGao HShi Y(2023)Model Predictive Control of Switched Linear Systems With Persistent Dwell-Time Constraints: Recursive Feasibility and StabilityIEEE Transactions on Automatic Control10.1109/TAC.2023.324827968:12(7887-7894)Online publication date: Dec-2023
https://doi.org/10.1109/TAC.2023.3248279
Chen YLazar M(2022)An efficient MPC algorithm for switched systems with minimum dwell time constraintsAutomatica10.1016/j.automatica.2022.110453143(110453)Online publication date: Sep-2022
https://doi.org/10.1016/j.automatica.2022.110453
Robuschi NZeile CSager SBraghin F(2021)Multiphase mixed-integer nonlinear optimal control of hybrid electric vehiclesAutomatica10.1016/j.automatica.2020.109325123(109325)Online publication date: Jan-2021
https://doi.org/10.1016/j.automatica.2020.109325
Salehi HTavassoli B(2020)A gradient algorithm for solution of the optimal control problem for hybrid switching systemsOptimal Control Applications and Methods10.1002/oca.267341:6(1854-1874)Online publication date: 9-Sep-2020
https://doi.org/10.1002/oca.2673

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