This paper considers the problem of real-time mode scheduling in linear time-varying switched systems subject to a quadratic cost functional. The execution time of hybrid control algorithms is often prohibitive for real-time applications and typically may only be reduced at the expense of approximation accuracy. We address this trade-off by taking advantage of system linearity to formulate a projection-based approach so that no simulation is required during open-loop optimization. A numerical example shows how the proposed open-loop algorithm outperforms methods employing common numerical integration techniques. Additionally, we follow a receding-horizon scheme to apply real-time closed-loop hybrid control to a customized experimental setup, using the Robot Operating System (ROS). In particular, we demonstrate---both in Monte-Carlo simulation and in experiment---that optimal hybrid control efficiently regulates a cart and suspended mass system in real time.
Electric Vehicle Scheduling and Vehicle-to-Grid Integration in Microgrids
Operations Research and Information Engineering, Cornell Tech（康奈尔科技分校运营研究与信息工程系）；Jacobs Technion-Cornell Institute, Cornell Tech and Technion - IIT（雅各布泰康-康奈尔学院，康奈尔科技分校和以色列理工学院）；Electrical and Computer Engineering, Cornell Tech（康奈尔科技分校电气与计算机工程系）
Exploring the potential resource integration under passenger-freight shared mobility: collaborative optimization of multi-type bus scheduling and dynamic vehicle capacity allocation for urban-rural bus routes
On parallel machine scheduling with variable energy consumption functions
University of Modena and Reggio Emilia（摩德纳和雷焦艾米利亚大学）；Universidad Torcuato Di Tella（托尔夸托迪泰拉大学）；Consejo Nacional de Investigaciones Científicas y Técnicas（国家科学研究委员会）
