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

Yoke Peng Leong, Todd David Murphey

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publication2013 American Control Conference, ACC 2013
Pages6213-6218
Number of pages6
StatePublished - Sep 11 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Other

Other2013 1st American Control Conference, ACC 2013
Country/TerritoryUnited States
CityWashington, DC
Period6/17/136/19/13

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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