Reference
K. Máthé, L. Buşoniu, R. Munos, and B. De Schutter,
"Optimistic planning with a limited number of action switches for near-optimal
nonlinear control,"
Proceedings of the 53rd IEEE Conference on
Decision and Control, Los Angeles, California, pp. 3518-3523, Dec. 2014.
Abstract
We consider infinite-horizon optimal control of nonlinear systems where the
actions (inputs) are discrete. With the goal of limiting computations, we
introduce a search algorithm for action sequences constrained to switch at most
a given number of times between different actions. The new algorithm belongs to
the
optimistic planning class originating in artificial
intelligence, and is called
optimistic switch-limited
planning (OSP). It inherits the generality of the OP class, so it works
for nonlinear, nonsmooth systems with nonquadratic costs. We develop analysis
showing that the switch constraint leads to polynomial complexity in the search
horizon, in contrast to the exponential complexity of state-of-the-art OP; and
to a correspondingly faster convergence. The degree of the polynomial varies
with the problem and is a meaningful measure for the difficulty of solving it.
We study this degree in two representative, opposite cases. In simulations we
first apply OSP to a problem where limited-switch sequences are near-optimal,
and then in a networked control setting where the switch constraint must be
satisfied in closed loop.
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BibTeX
@inproceedings{MatBus:14-024,
author = {M{\'{a}}th{\'{e}}, Kopp{\'{a}}ny and Bu{\c{s}}oniu, Lucian and
Munos, R{\'{e}}mi and De Schutter, Bart},
title = {Optimistic Planning with a Limited Number of Action Switches
for Near-Optimal Nonlinear Control},
booktitle = {Proceedings of the 53rd IEEE Conference on Decision and
Control},
address = {Los Angeles, California},
pages = {3518--3523},
month = dec,
year = {2014}
}