Optimistic planning for the near-optimal control of nonlinear switched discrete-time systems with stability guarantees
M Granzotto, R Postoyan, L Busoniu, D Nesic, J Daafouz
Proceedings of the ... IEEE Conference on Decision & Control / IEEE Control Systems Society. IEEE Conference on Decision & Control | IEEE | Published : 2020
Originating in the artificial intelligence literature, optimistic planning (OP) is an algorithm that generates near-optimal control inputs for generic nonlinear discrete-time systems whose input set is finite. This technique is therefore relevant for the near-optimal control of nonlinear switched systems, for which the switching signal is the control. However, OP exhibits several limitations, which prevent its application in a standard control context. First, it requires the stage cost to take values in [0, 1], an unnatural prerequisite as it excludes, for instance, quadratic stage costs. Second, it requires the cost function to be discounted. Third, it applies for reward maximization, and n..View full abstract
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Awarded by Australian Research Council
Lucian Busoniu is with the Department of Automation, Technical University of Cluj-Napoca, Memorandumului 28, 400114 Cluj-Napoca, Romania (email:firstname.lastname@example.org).His work was supported by a grant of the Romanian Ministry of Research and Innovation, CNCS - UEFISCDI, project number PN-III-P1-1.1-TE-2016-0670, contract TE 9/2018, within PNCDI III.Dragan Nesic is with the Department of Electrical and Electronic Engineering, University of Melbourne, Parkville, VIC 3010, Australia (e-mail: email@example.com).His work was supported by the Australian Research Council under the Discovery Project DP170104099.