This paper concerns the problem of optimally scheduling the sequence of dynamic response
functions in nonlinear switched-mode hybrid dynamical systems. The control parameter has …

Many practical optimal control problems include discrete decisions. These may be either
time-independent parameters or time-dependent control functions as gears or valves that …

We present a numerical method and results for a recently published benchmark problem
(Optim. Contr. Appl. Met. 2005; 26: 1–18; Optim. Contr. Appl. Met. 2006; 27 (3): 169–182) in …

Switched systems, or systems whose control parameters include a continuous-valued input
and a discrete-valued input which corresponds to the mode of the system that is active at a …

Skid-steered vehicles, by design, must skid in order to maneuver. The skidding causes the
vehicle to behave discontinuously during a maneuver as well as introduces complications to …

This technical note gives a method for calculating the first and second derivatives of a cost
function with respect to switching times for systems with piecewise second-differentiable …

Zusammenfassung Diese Arbeit behandelt verschiedene Aspekte der Klasse gemischt-
ganzzahliger nichtlinearer Optimalsteuerungsprobleme (MIOCPs). Dies sind …

We consider an optimal control problem for a class of nonlinear switched systems with
mixed constraints, in which both the mode sequence of active subsystems and the number …

This paper presents an efficient suboptimal model predictive control (MPC) algorithm for
nonlinear switched systems subject to minimum dwell time constraints (MTC). While MTC …

In this chapter another type of methods to solve optimal control problems is discussed. Direct
methods transform the original problem via a discretization of the control and the state …