Calculus of Variations and Geometric Measure Theory
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F. Bagagiolo - A. Festa - L. Marzufero

A hybrid control framework for an optimal visiting problem

created by marzufero on 22 Dec 2020
modified on 12 Jan 2022


Published Paper

Inserted: 22 dec 2020
Last Updated: 12 jan 2022

Journal: IFAC-PapersOnLine
Volume: 54
Number: 5
Pages: 241-246
Year: 2021
Doi: 10.1016/j.ifacol.2021.08.505

ArXiv: 2012.07705 PDF


The optimal visiting problem is the optimization of a trajectory that has to touch or pass as close as possible to a collection of target points. The problem does not verify the dynamic programming principle, and it needs a specific formulation to keep track of the visited target points. In this paper, we discuss a hybrid control-based approach where the discontinuous part of the trajectory switches between a group of discrete states related to the targets of the problem. After introducing the problem, we show the well-position establishing a correspondence with a collection of time-dependent optimal stopping problems.

Keywords: optimal control of hybrid systems, generalized solutions of Hamilton-Jacobi equations, output feedback control

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