Conference Proceedings

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

Abstract

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

Grants

Awarded by Australian Research Council


Funding Acknowledgements

Lucian Busoniu is with the Department of Automation, Technical University of Cluj-Napoca, Memorandumului 28, 400114 Cluj-Napoca, Romania (email:lucian.busoniu@aut.utcluj.ro).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: dnesic@unimelb.edu.au).His work was supported by the Australian Research Council under the Discovery Project DP170104099.