In this contribution we address an optimal control problem for a class of discretetime hybrid automata under safety and liveness constraints. The solution is based on a hierarchical decomposition of the problem, where the low-level controller enforces safety and liveness constraints while the high-level controller exploits the remaining degrees of freedom for performance optimization. Lower-level control is based on a discrete abstraction of the continuous dynamics. The action of low-level control can be interpreted as restricting invariants in the hybrid automaton representing the plant model. A state feedback solution for the high-level control is provided, based on the off-line construction of an appropriate partition of the state space.

Optimal control of discrete-time hybrid automata under safety and liveness constraints

SEATZU, CARLA;GIUA, ALESSANDRO
2006-01-01

Abstract

In this contribution we address an optimal control problem for a class of discretetime hybrid automata under safety and liveness constraints. The solution is based on a hierarchical decomposition of the problem, where the low-level controller enforces safety and liveness constraints while the high-level controller exploits the remaining degrees of freedom for performance optimization. Lower-level control is based on a discrete abstraction of the continuous dynamics. The action of low-level control can be interpreted as restricting invariants in the hybrid automaton representing the plant model. A state feedback solution for the high-level control is provided, based on the off-line construction of an appropriate partition of the state space.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11584/106494
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