期刊
AUTOMATICA
卷 45, 期 5, 页码 1243-1251出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2008.12.011
关键词
Hybrid systems; Discrete-event systems; Optimal control; Model predictive control; Mixed-integer programming
资金
- European Community [FP6-IST-51136]
- Italian Ministry for Education, University and Research (MIUR)
- Spanish Ministry of Education and Science
In this paper we introduce a class of continuous-time hybrid dynamical systems called integral continuous-time hybrid automata (icHA) for which we propose an event-driven optimization-based control strategy. Events include both external actions applied to the system and changes of continuous dynamics (mode switches). The icHA formalism subsumes a number of hybrid dynamical systems with practical interest, e.g., linear hybrid automata. Different cost functions, including minimum-time and minimum-effort criteria, and constraints are examined in the event-driven optimal control formulation. This is translated into a finite-dimensional mixed-integer optimization problem, in which the event instants and the corresponding values of the control input are the optimization variables. As a consequence, the proposed approach has the advantage of automatically adjusting the attention of the controller to the frequency of event occurrence in the hybrid process. A receding horizon control scheme exploiting the event-based optimal control formulation is proposed as a feedback control strategy and proved to ensure either finite-time or asymptotic convergence of the closed-loop. (C) 2009 Elsevier Ltd. All rights reserved.
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