On the Hybrid Minimum Principle: The Hamiltonian and Adjoint Boundary Conditions

• 成果类型: Article
• 署名作者: Pakniyat, Ali; Caines, Peter E.
• 署名单位: University System of Georgia; Georgia Institute of Technology; McGill University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.2992450
• 发表日期: 2021
• 页码: 1246-1253
• 关键词: Hybrid systems; minimum principle (MP); nonlinear control systems; optimal control; Pontryagin maximum principle

摘要

The hybrid minimum principle is presented for the optimal control of deterministic hybrid systems with both autonomous and controlled switchings and jumps where state jumps at the switching instants are permitted to be accompanied by changes in the dimension of the state space. A feature of particular importance is the explicit presentation of the boundary conditions on the Hamiltonians and the adjoint processes before and after switchings and jumps. The numerical benefit of these expressions are demonstrated on a modified version of the multiple autonomous switchings algorithm. The results are illustrated for the hybrid model of an electric vehicle powertrain with a two-speed transmission.