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A numerical method for hybrid optimal control based on dynamic programming
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DOI：10.1016/j.nahs.2010.09.002.png)
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This contribution extends a numerical method for solving optimal control problems by dynamic programming to a class of hybrid dynamic systems with autonomous as well as controlled switching. The value function of the hybrid control system is calculated based on a full discretization of the state and input spaces. A bound for the error due to discretization is obtained from modeling the error as perturbation of the continuous dynamics and the cost terms. It is shown that the bound approaches zero and that the value function of the discretized variant converges to the value function of the original problem if the discretization parameters go to zero. The performance of a numerical scheme exploiting the discretized system is illustrated for two different examples treated previously in literature. (C) 2010 Elsevier Ltd. All rights reserved.
Keyword:
Optimal control
Hybrid systems
Dynamic programming
Value function
Approximation
期刊
N
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4.1
论文数:
1.4K
被引数:
3.1K
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