A Formal Verification Approach for Exact Solution to Finite-Time Optimal Control Problem of Hybrid Systems

摘要

In this paper, we pursue to combine formal verification techniques with finite-time optimal control problem of hybrid systems. The formal verification in computer science enables us to exclude mode sequences which does not achieve the desired terminal mode. As a main result, we show that finite-time optimal control problem of a hybrid system, which is originally a mixed integer quadratic programming problem, can be reduced to multiple small sized quadratic programming problems. It can be expected that exact solutions of model predictive control problems can be computed in reasonable time.