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Efficient pruning of search trees in LQR control of switched linear systems

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2 Author(s)
B. Lincoln ; Dept. of Autom. Control, Lund Inst. of Technol., Sweden ; B. Bernhardsson

Considers off-line optimization of a switching sequence for a given finite set of linear control systems and joint optimization of control laws. A linear quadratic full information criterion is optimized and dynamic programming is used to find the optimal switching sequence and control laws. The main result is a method for efficient pruning of the search tree to avoid combinatoric explosion. A method to prove optimality of a found candidate switch sequence and corresponding control laws is presented

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Decision and Control, 2000. Proceedings of the 39th IEEE Conference on  (Volume:2 )

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