Modeling and Optimization of Hybrid Systems
Paper in proceeding, 2015

In this paper a predicate transition model for discrete event systems is generalized to include continuous dynamics, and the result is a modular hybrid predicate transition model. Based on this model a hybrid Petri net, including explicit differential equations and shared variables, is also proposed. It is then shown how this hybrid Petri net model can be optimized based on a simple and robust nonlinear programming formulation. The procedure only assumes that desired sampled paths for a number of interacting moving devices are given, while originally equidistant time instances are adjusted to minimize a given criterion. This optimization of hybrid systems is also applied to a real robot station with interacting devices, which results in about 30\% reduction in energy consumption.

petri net

optimization

hybrid systems

discrete-event systems

Author

Bengt Lennartson

Chalmers, Signals and Systems, Systems and control

Oskar Wigström

Chalmers, Signals and Systems, Systems and control

Sarmad Riazi

Chalmers, Signals and Systems, Systems and control

Kristofer Bengtsson

Chalmers, Signals and Systems, Systems and control

IFAC-PapersOnLine

24058963 (eISSN)

Vol. 48 27 351-357

5th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS’15)
Atlanta, USA,

Driving Forces

Sustainable development

Areas of Advance

Production

Subject Categories

Robotics

DOI

10.1016/j.ifacol.2015.11.199

More information

Latest update

9/15/2021