Regularity of optimal solutions and the optimal cost for hybrid dynamical systems via reachability analysis

DOI10.1016/J.AUTOMATICA.2023.110913MaRDI QIDQ6160741zbMATHFDO

Authors Berk Altın, Ricardo G. Sanfelice

Publication date 26 June 2023

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2112.10891

zbMATH Keywords

hybrid systemsoptimal control

Mathematics Subject Classification ID

Applications of optimal control and differential games (49N90) Attainable sets, reachability (93B03) Control/observation systems governed by functional relations other than differential equations (such as hybrid and switching systems) (93C30)

Abstract: For a general optimal control problem for dynamical systems with hybrid dynamics, we study the dependency of the optimal cost and of the value function on the initial conditions, parameters, and perturbations. We show that upper and lower semicontinuous dependence of solutions on initial conditions -- properties that are captured by outer and inner well-posedness, respectively -- lead to the existence of a solution to the hybrid optimal control problem and upper/lower semicontinuity of the optimal cost. In particular, by exploiting properties of finite horizon reachable sets for hybrid systems, we show that the optimal cost varies upper semicontinuously when the hybrid system is (nominally) outer well-posed, and lower semicontinuously when it is (nominally) inner well-posed and an additional assumption requiring partial knowledge of solutions. Consequently, when the system is both (nominally) inner and outer well-posed and the aforementioned assumption holds, the optimal cost varies continuously, and optimal solutions vary upper semicontinuously. We further show that even in the absence of this solution-based assumption, the optimal cost can be continuously approximated. The results are demonstrated in finite horizon optimization problems with hybrid dynamics, both theoretically and numerically.

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Cited in

(2)

• Solutions and reachable sets of hybrid dynamical systems: semicontinuous dependence on initial conditions, time, and perturbations
• Sufficient Conditions for Optimality and Asymptotic Stability in Two-Player Zero-Sum Hybrid Games

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