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Discrete-time optimal feedback control via Hamilton-Jacobi theory with an application to hybrid systems

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1 Author(s)
Taeyoung Lee ; Mech. & Aerosp. Eng., George Washington Univ., Washington, DC, USA

A computational framework for discrete-time optimal feedback control is presented. It is shown that discrete-time necessary conditions for optimality can be uniformly solved for varying boundary conditions, via the recent development of discrete-time Hamilton-Jacobi theory. This is extended to develop computational optimal feedback controls for hybrid systems with a partitioned state space, where discrete switching dynamics occur at the boundary between partitions of the configuration space. The desirable computational properties are illustrated by a numerical example.

Published in:

Decision and Control (CDC), 2012 IEEE 51st Annual Conference on

Date of Conference:

10-13 Dec. 2012

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