This paper presents a method for optimal control of hybrid systems. An inequality of Bellman type is considered and every solution to this inequality gives a lower bound on the optimal value function. A discretization of this “hybrid Bellman inequality” leads to a convex optimization problem in terms of finitedimensional linear programming. From the solution of the discretized problem, a value ...

We consider the synthesis of optimal controls for continuous feedback systems by recasting the problem to a hybrid optimal control problem: to synthesize optimal enabling conditions for switching between locations in which the control is constant. An algorithmic solution is obtained by translating the hybrid automaton to a finite automaton using a bisimulation and formulating a dynamic programm...

A mathematical formalism for designing running gaits in bipedal robots with compliance is introduced and subsequently validated experimentally on MABEL, a planar biped that contains springs in its drivetrain. The methods of virtual constraints and hybrid zero dynamics are used to design a time-invariant feedback controller that respects the natural compliance of the open-loop system. In additio...

The problem of robustly, asymptotically stabilizing a point (or a set) with two output-feedback hybrid controllers is considered. These control laws may have different objectives, e.g., the closed-loop systems resulting with each controller may have different attractors. We provide a control algorithm that combines the two hybrid controllers to accomplish the stabilization task. The algorithm c...

Introduction: There are two popular methods of clinical skillsteaching. One is Peyton’s method, and the other one is RobertGagne’s method. A hybrid model which is a combination ofboth teaching methods is developed and implemented at AvalonUniversity School of Medicine in Clinical Skills. The aim of thestudy was to evaluate the hybrid model of clinical skills teachi...

We re-examine the basic hybrid control set-up of a continuous plant in a closed feedback loop with a finite state control automaton and an interface consisting of an A/D map and a D/A map. We address the question of how dynamic specifications can be formulated independently of a particular A/D map, and of the effect of refining an A/D map. The main contribution of this paper is that it extends ...

We consider the synthesis of optimal controls for continuous feedback systems by recasting the problem to a hybrid optimal control problem: synthesize optimal enabling conditions for switching between locations in which the control is constant. An algorithmic solution is obtained by translating the hybrid automaton to a finite automaton using a bisimulation and formulating a dynamic programming...

This paper presents a robust control design methodology for systems with probabilistic parametric uncertainty. Control design is carried out by solving a reliability-based multi-objective optimization problem where the probability of violating design requirements is minimized. Simultaneously, failure domains are optimally enlarged to enable global improvements in the closed-loop performance. To...

In this paper, we propose a new design method for the traffic network hybrid feedback controller. In the proposed method, the PWARX classifier describes the nonlinear feedback control law of the traffic control system that the output of the previously developed controller is reproduced applying the 0-1 classifications of the PWARX systems. The proposed method is a hierarchical classification pr...