Z. Liu and O. Stursberg, “Optimal Trajectory Planning of Hybrid Systems by Efficient MIQP Encoding,” in 2018 IEEE Conference on Decision and Control (CDC), IEEE, Ed. Red Hook, NY: Curran Associates, 2018, pp. 1548–1553.
Abstract
This paper proposes an efficient encoding for Mixed Integer Quadratic Programming (MIQP) problems in optimally controlling constrained hybrid systems from an initial state into a target region over a finite time horizon. The set of admissible trajectories given the system semantics is formulated by tailored constraints involving binary variables to encode the transition dynamics. A subset of these constraints establish a phase sequencing, which reduces the number of possible value combinations for the binary variables significantly, resulting in lower computation times for solving the MIQP problem. An illustrating example demonstrates the low computation times.
BibTex
@INPROCEEDINGS{LS19a,
AUTHOR={Z. Liu and O. Stursberg},
TITLE={{Efficient Optimal Control of Hybrid Systems with Conditioned Transitions}},
BOOKTITLE={Proc. 15th IEEE Int. Conf. on Control and Automation},
YEAR={2019},
PAGES={223-230},
COMMENT={noch nicht gemeldet, ISBN: ?, ? Normseiten}}
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