Modeling and Optimization of Hybrid Systems
Paper in proceedings, 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.

Author

Bengt Lennartson

Chalmers, Signals and Systems, Systems and control, Automation

Oskar Wigström

Chalmers, Signals and Systems, Systems and control, Automation

Sarmad Riazi

Chalmers, Signals and Systems, Systems and control, Automation

Kristofer Bengtsson

Chalmers, Signals and Systems, Systems and control, Automation

Proc. 5th IFAC Conference on Analysis and Design of Hybrid Systems (ADHS’15), Atlanta, October 14-16, IFAC-PapersOnLine

Vol. 48 27 351-357

Driving Forces

Sustainable development

Areas of Advance

Production

Subject Categories

Robotics

More information

Created

10/7/2017