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Stochastic optimal control for hybrid systems with uncertain discrete dynamics

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3 Author(s)
Adamek, F. ; Inst. for Autom. Control Eng., Tech. Univ. Munchen, Munich ; Sobotka, M. ; Stursberg, O.

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.

Published in:

Automation Science and Engineering, 2008. CASE 2008. IEEE International Conference on

Date of Conference:

23-26 Aug. 2008