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This paper presents a method for the reactive synthesis of fault-tolerant optimal control protocols for a finite deterministic discrete event system subject to safety specifications. A Deterministic Finite State Machine (DFSM) and Behavior Tree (BT) were used to model the system. The synthesis procedure involves formulating the policy problem as a shortest path dynamic programming problem. The procedure...
This paper addresses the optimal planning problem on register automata, a special class of finite state machines which can process continuous inputs. Register automata emerge as abstractions of a class of switched dynamical systems with convergent continuous component dynamics, and dwell times sufficiently large to allow convergence to neighborhoods of parameterized limit sets in finite time. A word...
The paper presents application of the Monotone Structural Evolution (MSE) to dynamic optimization of switched systems. The MSE is a direct computational method of optimal control which automatically identifies the optimal structure. Its distinctive feature is that the decision space undergoes gradual evolution, driven by the discrepancy from the Maximum Principle conditions. The approach is illustrated...
The optimal control of multi-model hybrid system was discussed. First, the value function of the optimal control was given. With the help of dynamic programming theory, the properties of the value function were analysed. And the conclusion that the value function satisfied a HJB-equation was concluded. The optimum solution was constructed with the value function. Consequently, the existence of the...
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