Optimization of Hybrid Systems with Known Paths
Paper i proceeding, 2012

In this paper we study a subset of hybrid systems and present a generalized method for their optimization. We outline Hybrid Cost Automata (HCA), an extension to Hybrid Automata, where discrete and continuous cost expressions are added. The class of hybrid systems with known spatial paths is dened in the context of HCA. This type of system is common in industry where for example AGVs transport goods from one location to another, or manipulators move between joint coordinates. The optimization is performed using Dynamic Programming as a preprocessing step, whereafter Mixed Integer Nonlinear Programming is used for scheduling. A case study of a four robot cell is presented with energy consumption used as a minimization criterion.

Manufacturing

Optimal control

Hybrid automata

Författare

Oskar Wigström

Chalmers, Signaler och system, System- och reglerteknik, Automation

Nina Sundström

Chalmers, Signaler och system, System- och reglerteknik, Automation

Bengt Lennartson

Chalmers, Signaler och system, System- och reglerteknik, Automation

IFAC Proceedings Volumes. 4th IFAC Conference on Analysis and Design of Hybrid Systems, ADHS'12, Eindhoven, 6-8 June 2012

1474-6670 (ISSN)

39-45

Styrkeområden

Produktion

Ämneskategorier

Beräkningsmatematik

DOI

10.3182/20120606-3-NL-3011.00007

ISBN

978-3-902823-00-7