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Optimal hybrid control for switched affine systems under safety and liveness constraints

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6 Author(s)
Corona, D. ; Dept. of Electr. & Electron. Eng., Cagliari Univ. ; Seatzu, C. ; Giua, A. ; Gromov, D.
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In this contribution, we propose a two-level hierarchical control strategy to solve the problem of minimising a cost function for a switched affine system under safety and liveness constraints. The constraints are handled on the lower level by a discrete supervisory controller designed using l-complete approximation. Its action can be represented as state invariants added to the plant model. In a bottom-up strategy, we can then synthesis a high-level controller, which computes a set of switching tables using the remaining degrees of freedom to optimise a quadratic performance index

Published in:

Computer Aided Control Systems Design, 2004 IEEE International Symposium on

Date of Conference:

4-4 Sept. 2004