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This workshop will present recently developed results on the solution of the hybrid/switched optimal control problem using the embedding method developed by Bengea and DeCarlo (Automatica, January 2005). Using a variation of the collocation method, a numerical solution of the problem via sequential quadratic programming is outlined. With these tools and a model predictive control approach, application of the techniques to the switching control of a boost converter using a circuit specific estimator is then presented. Results include real time model predictive control of the boost converter at a switching speed of 10 kHz. This is followed by the model predictive control of mobile robots and groups of autonomous aerial vehicles (AUVs).