TY - JOUR VL - 45 PB - Elsevier Science Limited EP - 1251 Y1 - 2009/// SP - 1243 A1 - Di Cairano, Stefano A1 - Bemporad, Alberto A1 - Júlvez, Jorge AV - none ID - eprints475 TI - Event-driven optimization-based control of hybrid systems with integral continuous-time dynamics UR - http://www.sciencedirect.com/science/article/pii/S0005109809000247 IS - 5 JF - Automatica N2 - In this paper we introduce a class of continuous-time hybrid dynamical systems called integral continuous-time hybrid automata (icHA) for which we propose an event-driven optimization-based control strategy. Events include both external actions applied to the system and changes of continuous dynamics (mode switches). The icHA formalism subsumes a number of hybrid dynamical systems with practical interest, e.g., linear hybrid automata. Different cost functions, including minimum-time and minimum-effort criteria, and constraints are examined in the event-driven optimal control formulation. This is translated into a finite-dimensional mixed-integer optimization problem, in which the event instants and the corresponding values of the control input are the optimization variables. As a consequence, the proposed approach has the advantage of automatically adjusting the attention of the controller to the frequency of event occurrence in the hybrid process. A receding horizon control scheme exploiting the event-based optimal control formulation is proposed as a feedback control strategy and proved to ensure either finite-time or asymptotic convergence of the closed-loop. ER -