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Optimization of Hybrid Systems with Known Paths

Oskar Wigström (Institutionen för signaler och system, Automation) ; Nina Sundström (Institutionen för signaler och system, Automation) ; Bengt Lennartson (Institutionen för signaler och system, Automation)
IFAC Proceedings Volumes. 4th IFAC Conference on Analysis and Design of Hybrid Systems, ADHS'12, Eindhoven, 6-8 June 2012 (1474-6670). p. 39-45. (2012)
[Konferensbidrag, refereegranskat]

In this paper we study a subset of hybrid systems and present a generalized method for their optimization. We outline Hybrid Cost Automata (HCA), an extension to Hybrid Automata, where discrete and continuous cost expressions are added. The class of hybrid systems with known spatial paths is dened in the context of HCA. This type of system is common in industry where for example AGVs transport goods from one location to another, or manipulators move between joint coordinates. The optimization is performed using Dynamic Programming as a preprocessing step, whereafter Mixed Integer Nonlinear Programming is used for scheduling. A case study of a four robot cell is presented with energy consumption used as a minimization criterion.

Nyckelord: Optimal control, Manufacturing, Hybrid automata

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Denna post skapades 2012-07-03. Senast ändrad 2012-10-02.
CPL Pubid: 159950


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Institutioner (Chalmers)

Institutionen för signaler och system, Automation (2005-2017)


Optimeringslära, systemteori

Chalmers infrastruktur