Discrete mechanics and mixed integer optimal control of dynamical systems |
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| Authors: | Maik Ringkamp Sina Ober-Blöbaum Sigrid Leyendecker |
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| Institution: | 1. Chair of Applied Dynamics, University of Erlangen-Nuremberg, Germany;2. Computational Dynamics and Optimal Control, University of Paderborn, Germany |
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| Abstract: | Mixed integer optimal control problems are a generalization of ordinary optimal control problems that include additional integer valued control functions. The integer control functions are used to switch instantaneously from one system to another. We use a time transformation (similar as in 1]) to get rid of the integer valued functions. This allows to apply gradient based optimization methods to approximate the mixed integer optimal control problem. The time transformation from 1] is adapted such that problems with distinct state domains for each system can be solved and it is combined with the direct discretization method DMOC 2,3] (Discrete Mechanics and Optimal Control) to approximate trajectories of the underlying optimal control problems. Our approach is illustrated with the help of a first example, the hybrid mass oscillator. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim) |
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