01556nas a2200217   4500008004100000245004700041210004700088260004100135300001200176490001400188520092000202653002101122653001301143100001601156700001601172700001901188700001501207700001401222700001901236856008301255       2002                        eng d00aOptimal control of quantized input systems0 aOptimal control of quantized input systems  aHeidelberg, GermanybSpringer-Verlag  a351-3630 vLNCS 22893 a<p>In this paper we consider the problem of optimal control (specifically, minimum-time steering) for systems with quantized inputs. In particular, we propose a new approach to the solution of the optimal control problem for an important class of nonlinear systems, i.e. chained-form systems. By exploiting results on the structure of the reachability set of these systems under quantized control, the optimal solution is determined solving an integer linear programming problem. Our algorithm represents an improvement with respect to classical approaches in terms of exactness, as it does not resort to any a priori state-space discretization. Although the computational complexity of the problem in our formulation is still formally exponential, it lends itself to application of Branch and Bound techniques, which substantially cuts down computations in many cases, as it has been experimentally observed.</p>
10aEmbedded Control10aRobotics1 aPancanti, S1 aLeonardi, L1 aPallottino, L.1 aBicchi, A.1 aTomlin, C1 aGreenstreet, M  uhttp://95.110.227.16/publications/optimal-control-quantized-input-systems.html01402nas a2200157   4500008004100000245005100041210004800092260001600140520092000156653002101076653001301097100001601110700001901126700001501145856008401160       2002                        eng d00aOn Optimal Steering of Quantized Input Systems0 aOptimal Steering of Quantized Input Systems  aUrbana, IL.3 a<p>In this paper we consider the problem of optimal control (specifically, minimum-time steering) for systems with quantized inputs. In particular, we propose a new approach to the solution of the optimal control problem for an important class of nonlinear systems, i.e. chained-form systems. By exploiting results on the structure of the reachability set of these systems under quantized control, the optimal solution is determined solving an integer linear programming problem. Our algorithm represents an improvement with respect to classical approaches in terms of exactness, as it does not resort to any a priori state-space discretization. Although the computational complexity of the problem in our formulation is still formally exponential, it lends itself to application of Branch and Bound techniques, which substantially cuts down computations in many cases, as it has been experimentally observed.</p>
10aEmbedded Control10aRobotics1 aPancanti, S1 aPallottino, L.1 aBicchi, A.  uhttp://95.110.227.16/publications/optimal-steering-quantized-input-systems.html