Self-Triggered Optimal Control Based on Path Search Algorithm

Abstract

This paper proposes a path search formulation and its solution method to a finite optimal control problem on self-triggered control systems. Previous methods to the problem have high computational complexity. This paper focuses on the formulation and its data structure for reduction of calculation time and reformulates the optimal control problem to a path search problem. We also consider a data structure of a graph for the path search problem. The key point is the sharing of vertices. The sharing leads to the reduction of calculation time. We compare the calculation time of the path search algorithm and the mixed-logical dynamical method.

Keywords

• self-triggered control systems
• finite optimal control problem
• path search
• dynamic programming