Authors:
Céline Quémard
and
Jean-Claude Jolly
Affiliation:
Universit´e d’Angers, LISA-FRE 2656 CNRS, France
Keyword(s):
Hybrid Dynamical System, Optimization, Mobile Switching Surface, Thermostat with Anticipative Resistance, Car with Two Gears, Robot, Obstacle Avoidance, Target Approach.
Related
Ontology
Subjects/Areas/Topics:
Hybrid Dynamical Systems
;
Informatics in Control, Automation and Robotics
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
To reinforce interest of a general optimization algorithm obtained in a previous paper (Jolly et al., 2005), we consider three applications : an original one about control of cycles for a thermostat with anticipative resistance, a classical one with a new resolution for a car with two gears and a last one about an obstacle-avoidance problem in robotics. For the first case, we optimize the adjustment of thermostat thresholds to control at best the room temperature. For the second case, we optimize the switching times to stop the car as near as possible of chosen points and this, in a minimum time . In the last example, we optimize parameters of the switching surfaces in order that the robot reaches a chosen target without meeting a mobile obstacle.