Journal article
Stochastic Optimal Control for Hybrid Systems with Uncertain Dynamics.
Publication Details
Authors: | Adamek, F.; Sobotka, M.; Stursberg, O. |
Editor: | IEEE |
Publication year: | 2008 |
Journal: | 4th IEEE Conf. on Automation Science and Engineering |
Pages range : | 23–28 |
Book title: | IEEE International Conference on Automation Science and Engineering, 2008. CASE 2008. |
ISBN: | 978-1-4244-2022-3 |
ISSN: | 1552-3098 |
DOI-Link der Erstveröffentlichung: |
Abstract
This paper considers the task of computing (sub-) optimal continuous and discrete control trajectories for hybrid systems with a probabilistic discrete transition structure. The discrete inputs are used to block undesired transitions and to realize evolutions that are goal-attaining with high probability. An approach is proposed which combines the computation of discrete shortest-paths for given probability-levels with embedded continuous optimal control problems to fix the continuous controls. The result is a control strategy which leads to a system evolution that maximizes a weighted sum of performance and probability of success. The approach is illustrated for an automated transportation scenario.
This paper considers the task of computing (sub-) optimal continuous and discrete control trajectories for hybrid systems with a probabilistic discrete transition structure. The discrete inputs are used to block undesired transitions and to realize evolutions that are goal-attaining with high probability. An approach is proposed which combines the computation of discrete shortest-paths for given probability-levels with embedded continuous optimal control problems to fix the continuous controls. The result is a control strategy which leads to a system evolution that maximizes a weighted sum of performance and probability of success. The approach is illustrated for an automated transportation scenario.
