{"id":"https://openalex.org/W2148599741","doi":"https://doi.org/10.1145/1755952.1755961","title":"A descent algorithm for the optimal control of constrained nonlinear switched dynamical systems","display_name":"A descent algorithm for the optimal control of constrained nonlinear switched dynamical systems","publication_year":2010,"publication_date":"2010-04-12","ids":{"openalex":"https://openalex.org/W2148599741","doi":"https://doi.org/10.1145/1755952.1755961","mag":"2148599741"},"language":"en","primary_location":{"id":"doi:10.1145/1755952.1755961","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1755952.1755961","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 13th ACM international conference on Hybrid systems: computation and control","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/183406","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101719713","display_name":"Humberto Gonz\u00e1lez","orcid":"https://orcid.org/0000-0002-9883-2053"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Humberto Gonzalez","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053632225","display_name":"Ram Vasudevan","orcid":"https://orcid.org/0000-0003-1978-0572"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ram Vasudevan","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082009236","display_name":"Maryam Kamgarpour","orcid":"https://orcid.org/0000-0003-0230-3518"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maryam Kamgarpour","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103101043","display_name":"S. Shankar Sastry","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S. Shankar Sastry","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106083626","display_name":"Ruzena Bajcsy","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ruzena Bajcsy","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045155646","display_name":"Claire J. Tomlin","orcid":"https://orcid.org/0000-0003-3192-3185"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Claire J. Tomlin","raw_affiliation_strings":["University of California, Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101719713"],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":12.2841,"has_fulltext":false,"cited_by_count":62,"citation_normalized_percentile":{"value":0.98495713,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"51","last_page":"60"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10963","display_name":"Advanced Optimization Algorithms Research","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.6270479559898376},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5927430391311646},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5724571943283081},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5599514245986938},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5142537951469421},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4951891005039215},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.49271896481513977},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4888888895511627},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.472960889339447},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4548412561416626},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4537903666496277},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.4209287166595459},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3586987257003784},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.32518941164016724},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1999281644821167}],"concepts":[{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.6270479559898376},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5927430391311646},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5724571943283081},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5599514245986938},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5142537951469421},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4951891005039215},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.49271896481513977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4888888895511627},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.472960889339447},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4548412561416626},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4537903666496277},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.4209287166595459},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3586987257003784},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.32518941164016724},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1999281644821167},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1145/1755952.1755961","is_oa":false,"landing_page_url":"https://doi.org/10.1145/1755952.1755961","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 13th ACM international conference on Hybrid systems: computation and control","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:290341","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/183406","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:290341","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/183406","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1537335979","https://openalex.org/W1570351331","https://openalex.org/W1577715659","https://openalex.org/W1577858716","https://openalex.org/W1582706191","https://openalex.org/W1585405399","https://openalex.org/W1587799944","https://openalex.org/W1705287278","https://openalex.org/W1897974356","https://openalex.org/W1967468346","https://openalex.org/W2000975219","https://openalex.org/W2060894071","https://openalex.org/W2071996867","https://openalex.org/W2073464235","https://openalex.org/W2097415784","https://openalex.org/W2098432798","https://openalex.org/W2100848179","https://openalex.org/W2102347640","https://openalex.org/W2104128408","https://openalex.org/W2105443182","https://openalex.org/W2116361461","https://openalex.org/W2128969277","https://openalex.org/W2141666765","https://openalex.org/W2146447376","https://openalex.org/W2147699957","https://openalex.org/W2152185829","https://openalex.org/W2176326197","https://openalex.org/W2499036319","https://openalex.org/W2798574506","https://openalex.org/W3206777520"],"related_works":["https://openalex.org/W2047206873","https://openalex.org/W2756132392","https://openalex.org/W3035814349","https://openalex.org/W4285101096","https://openalex.org/W4382725876","https://openalex.org/W2084892497","https://openalex.org/W2115614142","https://openalex.org/W4320477335","https://openalex.org/W1561889708","https://openalex.org/W2275184629"],"abstract_inverted_index":{"One":[0],"of":[1,8,14,21,86,94,164],"the":[2,6,12,19,26,60,84,92,98,107,111,123,126,129,140,143,152,156,162],"oldest":[3],"problems":[4],"in":[5,102],"study":[7],"dynamical":[9,69],"systems":[10,34],"is":[11],"calculation":[13],"an":[15],"optimal":[16,29,61],"control.":[17],"Though":[18],"determination":[20],"a":[22,56,65,72,81,117,134,146],"numerical":[23,57],"solution":[24,58],"for":[25,32,64],"general":[27],"non-convex":[28],"control":[30,62,78],"problem":[31,63],"hybrid":[33],"has":[35,42,80],"been":[36],"pursued":[37],"relentlessly":[38],"to":[39,59],"date,":[40],"it":[41,46],"proven":[43],"difficult,":[44],"since":[45],"demands":[47],"nominal":[48],"mode":[49,96,130,148],"scheduling.":[50],"In":[51],"this":[52],"paper,":[53],"we":[54,115],"calculate":[55],"constrained":[66],"switched":[67],"nonlinear":[68],"system":[70],"with":[71],"running":[73],"and":[74,88,97,138,150],"final":[75],"cost.":[76],"The":[77],"parameter":[79],"discrete":[82,112],"component,":[83],"sequence":[85,131,149],"modes,":[87],"two":[89],"continuous":[90,99,157],"components,":[91],"duration":[93],"each":[95,103],"input":[100],"while":[101],"mode.":[104],"To":[105],"overcome":[106],"complexity":[108],"posed":[109],"by":[110,132],"optimization":[113,120],"problem,":[114],"propose":[116],"bi-level":[118],"hierarchical":[119],"algorithm:":[121],"at":[122,139],"higher":[124],"level,":[125,142],"algorithm":[127,144],"updates":[128],"using":[133],"single-mode":[135],"variation":[136],"technique,":[137],"lower":[141],"considers":[145],"fixed":[147],"minimizes":[151],"cost":[153],"functional":[154],"over":[155],"components.":[158],"Numerical":[159],"examples":[160],"detail":[161],"potential":[163],"our":[165],"proposed":[166],"methodology.":[167]},"counts_by_year":[{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}