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Measures and LMIs for optimal control of piecewise-affine dynamical systems: Systematic feedback synthesis in continuous-time
LuleƄ University of Technology.ORCID iD: 0000-0001-5474-7060
2012 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The project considers the class of deterministic continuous-time optimal control problems (OCPs) with piecewise-affine (PWA) vector fields and polynomial data. The OCP is relaxed as an infinite-dimensional linear program (LP) over space of occupation measures. The LP is then written as a particular instance of the generalized moment problem which is then approached by an asymptotically converging hierarchy of linear matrix inequality (LMI) relaxations. The relaxed dual of the original LP gives a polynomial approximation of the value function along optimal trajectories. Based on this polynomial approximation, a novel suboptimal policy is developed to construct a state feedback in a sample-and-hold manner. The results show that the suboptimal policy succeeds in providing a stabilizing suboptimal state feedback law that drives the system relatively close to the optimal trajectories and respects the given constraints.

Place, publisher, year, edition, pages
2012. , p. 42
Keywords [en]
Technology, optimal control, piecewise-affine, measures, moments, discontinuous feedback, SDP, LMIs, polynomials
Keywords [sv]
Teknik
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-202739OAI: oai:DiVA.org:kth-202739DiVA, id: diva2:1078449
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Available from: 2017-03-23 Created: 2017-03-03 Last updated: 2017-03-23Bibliographically approved

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Rasheed-Hilmy Abdalmoaty, Mohamed
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CiteExportLink to record
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
More languages
Output format
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