Second-order switching time and magnitude optimization for impulsive hybrid systems

Yoke Peng Leong; Todd David Murphey

Second-order switching time and magnitude optimization for impulsive hybrid systems

Yoke Peng Leong, Todd David Murphey

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Scopus citations

Abstract

This paper presents a method to perform second-order impulsive hybrid system optimization that optimizes a cost functional over mode transition times and impulse magnitudes simultaneously. The derivation of the first-order and second-order derivatives of the cost functional with respect to switching times and impulse magnitudes is presented. An adjoint formulation is utilized to compute the derivatives for a faster convergence at a lower computational cost. An example in robotics illustrates the effectiveness of this optimization technique when measurement noise is present.

Original language	English (US)
Title of host publication	2013 American Control Conference, ACC 2013
Pages	6213-6218
Number of pages	6
State	Published - Sep 11 2013
Event	2013 1st American Control Conference, ACC 2013 - Washington, DC, United States Duration: Jun 17 2013 → Jun 19 2013

Other

Other	2013 1st American Control Conference, ACC 2013
Country/Territory	United States
City	Washington, DC
Period	6/17/13 → 6/19/13

ASJC Scopus subject areas

Electrical and Electronic Engineering

Cite this

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title = "Second-order switching time and magnitude optimization for impulsive hybrid systems",

abstract = "This paper presents a method to perform second-order impulsive hybrid system optimization that optimizes a cost functional over mode transition times and impulse magnitudes simultaneously. The derivation of the first-order and second-order derivatives of the cost functional with respect to switching times and impulse magnitudes is presented. An adjoint formulation is utilized to compute the derivatives for a faster convergence at a lower computational cost. An example in robotics illustrates the effectiveness of this optimization technique when measurement noise is present.",

author = "Leong, {Yoke Peng} and Murphey, {Todd David}",

year = "2013",

month = sep,

day = "11",

language = "English (US)",

isbn = "9781479901777",

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note = "2013 1st American Control Conference, ACC 2013 ; Conference date: 17-06-2013 Through 19-06-2013",

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AU - Leong, Yoke Peng

AU - Murphey, Todd David

PY - 2013/9/11

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N2 - This paper presents a method to perform second-order impulsive hybrid system optimization that optimizes a cost functional over mode transition times and impulse magnitudes simultaneously. The derivation of the first-order and second-order derivatives of the cost functional with respect to switching times and impulse magnitudes is presented. An adjoint formulation is utilized to compute the derivatives for a faster convergence at a lower computational cost. An example in robotics illustrates the effectiveness of this optimization technique when measurement noise is present.

AB - This paper presents a method to perform second-order impulsive hybrid system optimization that optimizes a cost functional over mode transition times and impulse magnitudes simultaneously. The derivation of the first-order and second-order derivatives of the cost functional with respect to switching times and impulse magnitudes is presented. An adjoint formulation is utilized to compute the derivatives for a faster convergence at a lower computational cost. An example in robotics illustrates the effectiveness of this optimization technique when measurement noise is present.

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M3 - Conference contribution

AN - SCOPUS:84883526793

SN - 9781479901777

SP - 6213

EP - 6218

BT - 2013 American Control Conference, ACC 2013

T2 - 2013 1st American Control Conference, ACC 2013

Y2 - 17 June 2013 through 19 June 2013

ER -

Second-order switching time and magnitude optimization for impulsive hybrid systems

Abstract

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ASJC Scopus subject areas

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