Level-set approach for Reachability Analysis of Hybrid Systems under Lag Constraints

Giovanni Granato (1, 2, 3) , Hasnaa Zidani (2, 3)

1 Technocentre Renault [Guyancourt]
2 Commands - Control, Optimization, Models, Methods and Applications for Nonlinear Dynamical Systems
3 OC - Optimisation et commande

This study aims at characterizing a reachable set of a hybrid dynamical system with a lag constraint in the switch control. The setting does not consider any controllability assumptions and uses a level-set approach. The approach consists in the introduction of on adequate hybrid optimal control problem with lag constraints on the switch control whose value function allows a characterization of the reachable set. The value function is in turn characterized by a system of quasi-variational inequalities (SQVI). We prove a comparison principle for the SQVI which shows uniqueness of its solution. A class of numerical finite differences schemes for solving the system of inequalities is proposed and the convergence of the numerical solution towards the value function is studied using the comparison principle. Some numerical examples illustrating the method are presented. Our study is motivated by an industrial application, namely, that of range extender electric vehicles. This class of electric vehicles uses an additional module -- the range extender -- as an extra source of energy in addition to its main source -- a high voltage battery. The reachability study of this system is used to establish the maximum range of a simple vehicle model.

Mots clés: Optimal control; Quasi-variational Hamilton-Jacobi equation; Hybrid systems; Reachability analysis; sadco

Domaines: Optimisation et contrôle [math.OC]

Giovanni Granato, Hasnaa Zidani. Level-set approach for Reachability Analysis of Hybrid Systems under Lag Constraints. SIAM Journal on Control and Optimization, 2014, 52 (1), pp.606--628. ⟨10.1137/120874205⟩. ⟨hal-00735724v2⟩