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Summary: Optimal Control of Hybrid Autonomous Systems with State Jumps1
Xuping Xu £, Panos J. Antsaklis ££
£ Dept. of Electr. and Comp. Eng., Penn State Erie, Erie, PA 16563 USA - Xuping-Xu@psu.edu
££ Dept. of Electr. Eng., University of Notre Dame, Notre Dame, IN 46556 USA - antsaklis.1@nd.edu
Abstract
In this paper, optimal control problems for hybrid au-
tonomous systems with state jumps are studied. In particular,
we focus on problems in which a prespecified sequence of ac-
tive subsystems is given and propose an approach to finding
the optimal switching instants. Specifically, the derivatives
of the cost with respect to the switching instants are derived
and nonlinear optimization techniques are used to locate the
optimal switching instants. Using the approach, accurate nu-
merical values of local optimal solutions can be obtained. An
example illustrates the approach.
1 Introduction
A hybrid system is a dynamic system that involves
both continuous and discrete event dynamics. The contin-
uous dynamics is usually described by subsystem differen-
tial/difference equations and the discrete event dynamics is
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