Abstract
Optimal switching between different subsystems with discrete-time dynamics subject to a minimum dwell time constraint is investigated in this study. A feedback solution, using the framework of approximate dynamic programming, is proposed through tuning parameters of a function approximator. Once tuned, online control will be conducted with a computational load as low as evaluating a few scalar-valued functions. Moreover, the cases of applying a full or partial constraint on the mode sequence and/or having a mode-dependent minimum dwell time constraint are investigated. Finally, the performance of the scheme in handling different challenges is numerically evaluated.
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