01570nas a2200217 4500008004100000245004700041210004700088260004100135300001200176490001400188520092000202653002101122653001301143100001601156700001601172700001901188700001501207700001401222700001901236856009701255 2002 eng d00aOptimal control of quantized input systems0 aOptimal control of quantized input systems aHeidelberg, GermanybSpringer-Verlag a351-3630 vLNCS 22893 a
In this paper we consider the problem of optimal control (specifically, minimum-time steering) for systems with quantized inputs. In particular, we propose a new approach to the solution of the optimal control problem for an important class of nonlinear systems, i.e. chained-form systems. By exploiting results on the structure of the reachability set of these systems under quantized control, the optimal solution is determined solving an integer linear programming problem. Our algorithm represents an improvement with respect to classical approaches in terms of exactness, as it does not resort to any a priori state-space discretization. Although the computational complexity of the problem in our formulation is still formally exponential, it lends itself to application of Branch and Bound techniques, which substantially cuts down computations in many cases, as it has been experimentally observed.
10aEmbedded Control10aRobotics1 aPancanti, S1 aLeonardi, L1 aPallottino, L.1 aBicchi, A.1 aTomlin, C1 aGreenstreet, M uhttps://www.centropiaggio.unipi.it/publications/optimal-control-quantized-input-systems.html00740nas a2200217 4500008004100000245006700041210006700108260004100175300001200216490001400228653002100242653001300263100001600276700001500292700003300307700001700340700001500357700001900372700001400391856011700405 2002 eng d00aSynthesis of robust control systems under resource constraints0 aSynthesis of robust control systems under resource constraints aHeidelberg, GermanybSpringer-Verlag a337-3500 vLNCS 228910aEmbedded Control10aRobotics1 aPalopoli, L1 aPinello, C1 aSangiovanni-Vincentelli, A L1 aEl-Ghaoui, L1 aBicchi, A.1 aGreenstreet, M1 aTomlin, C uhttps://www.centropiaggio.unipi.it/publications/synthesis-robust-control-systems-under-resource-constraints.html00765nas a2200205 4500008004100000245008200041210006900123653003500192653002400227653004000251653003000291100001500321700001400336700001400350700001500364700001800379700001400397700001400411856013400425 1998 eng d00aDecentralized Air Traffic Management Systems: Performance and Fault Tolerance0 aDecentralized Air Traffic Management Systems Performance and Fau10aAir Traffic Management Systems10aAutonomous Vehicles10aHybrid and Embedded Control Systems10aNonlinear Control Systems1 aBicchi, A.1 aMarigo, A1 aPappas, G1 aPardini, M1 aParlangeli, G1 aTomlin, C1 aSastry, S uhttps://www.centropiaggio.unipi.it/publications/decentralized-air-traffic-management-systems-performance-and-fault-tolerance.html