switched dynamic systems

Mixed-Integer Optimal Control under Minimum Dwell Time Constraints

  • Nicolò Robuschi
  • Sebastian Sager
  • Clemens Zeile
    • Categories (Mixed) Integer Linear Programming, (Mixed) Integer Nonlinear Programming, Systems governed by Differential Equations Optimization Tags , , , , ,

    Tailored mixed-integer optimal control policies for real-world applications usually have to avoid very short successive changes of the active integer control. Minimum dwell time constraints express this requirement and can be included into the combinatorial integral approximation decomposition, which solves mixed-integer optimal control problems by solving one continuous nonlinear program and one mixed-integer linear program. … Read more

    Design, Implementation and Simulation of an MPC algorithm for Switched Nonlinear Systems under Combinatorial Constraints

  • Angelika Altmann-Dieses
  • Moritz Diehl
  • Sebastian Sager
  • Adrian Bürger
  • Clemens Zeile
    • Categories (Mixed) Integer Nonlinear Programming, Systems governed by Differential Equations Optimization Tags , , , ,

    Within this work, we present a warm-started algorithm for Model Predictive Control (MPC) of switched nonlinear systems under combinatorial constraints based on Combinatorial Integral Approximation (CIA). To facilitate high-speed solutions, we introduce a preprocessing step for complexity reduction of CIA problems, and include this approach within a new toolbox for solution of CIA problems with … Read more

    Combinatorial Integral Approximation Decompositions for Mixed-Integer Optimal Control

  • Sebastian Sager
  • Tobias Weber
  • Clemens Zeile
    • Categories (Mixed) Integer Linear Programming, (Mixed) Integer Nonlinear Programming, Systems governed by Differential Equations Optimization Tags , , , , ,

    Solving mixed-integer nonlinear programs (MINLPs) is hard in theory and practice. Decomposing the nonlinear and the integer part seems promising from a computational point of view. In general, however, no bounds on the objective value gap can be guaranteed and iterative procedures with potentially many subproblems are necessary. The situation is different for mixed-integer optimal … Read more