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Optimal Control of Discrete-Time Hybrid Automata under Safety and Liveness Constraints

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Raisch,  Jörg
Otto-von-Guericke-Universität Magdeburg, External Organizations;
Systems and Control Theory, Max Planck Institute for Dynamics of Complex Technical Systems, Max Planck Society;

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Citation

Seatzu, C., Gromov, D., Raisch, J., Corona, D., & Giua, A. (2006). Optimal Control of Discrete-Time Hybrid Automata under Safety and Liveness Constraints. Nonlinear Analysis:Theory, Methods & Applications, 65(6), 1188-1210. doi:10.1016/j.na.2005.12.024.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-9B38-3
Abstract
In this contribution we address an optimal control problem for a class of discrete-time hybrid automata under safety and liveness constraints. The solution is based on a hierarchical decomposition of the problem, where the low-level controller enforces safety and liveness constraints while the high-level controller exploits the remaining degrees of freedom for performance optimisation. Lower-level control is based on a discrete abstraction of the continuous dynamics. The action of low-level control can be interpreted as restricting invariants in the hybrid automaton representing the plant model. A state feedback solution for the high-level control is provided, based on the off-line construction of an appropriate partition of the state space. Copyright © 2005 Elsevier Ltd. All rights reserved. [accessed February 8th 2013]