Constrained computational hybrid controller for Input Affine Hybrid Dynamical Systems

TL;DR

This paper introduces a novel constrained hybrid controller for input affine hybrid dynamical systems, demonstrating its effectiveness through simulations and comparisons with existing methods on benchmark problems.

Contribution

It proposes a new implementable constrained final-state controller based on state-space partitioning, graph theory, and computational methods for hybrid systems.

Findings

Effective control demonstrated on three tank benchmark

Outperforms Model Predictive Controller in experiments

Applicable to swing-up control of pendulum

Abstract

Hybrid dynamical systems are viewed as the most complicated systems with continuous and event-based behaviors. Since traditional controllers cannot handle these systems, some newly-developed controllers have been published in recent decades to deal with them. This paper presents a novel implementable constrained final-state controller based on partitioning the system's state-space, computational simulations, and graph theory. Experimental results and a comparison with Model Predictive Controller on the three tank benchmark and swing-up control of a pendulum show the effectiveness of the proposed Computational Hybrid Controller(CHC).