線形時変系に対する単一積分ハイブリッド最適化を用いたリアルタイム動的モードスケジューリング
Real-time Dynamic-Mode Scheduling Using Single-Integration Hybrid Optimization for Linear Time-Varying Systems
線形時変スイッチドシステムのモード切替を、シミュレーション不要の投影法で高速に最適化し、ROSを用いた台車・吊り下げ質量系の実時間ハイブリッド制御を実現した。
著者: Anastasia Mavrommati, Jarvis A. Schultz, Todd D. Murphey
分類: math.OC, cs.RO
原文アブストラクト
This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications and typically may only be reduced at the expense of approximation accuracy. We address this trade-off by taking advantage of system linearity to formulate a projection-based approach so that no simulation is required during open-loop optimization. A numerical example shows how the proposed open-loop algorithm outperforms methods employing common numerical integration techniques. Additionally, we follow a receding-horizon scheme to apply real-time closed-loop hybrid control to a customized experimental setup, using the Robot Operating System (ROS). In particular, we demonstrate---both in Monte-Carlo simulation and in experiment---that optimal hybrid control efficiently regulates a cart and suspended mass system in real time.
