Optimal control strategy for hybrid automata

The research described in this paper addresses the problem of automatic execution of robotic tasks, considering uncertain environment. The focus on the paper is on the mathematical methodology used to address this problem, which belongs to the family of optimum systems control methods. The main mathematical definitions and the methodology background are given and a hybrid system model of a compliant task is analyzed in order to design the control law. The execution of this task requires the definition off a nominal trajectory that can drive the robot to the task successful completion. To this aim, we define an optimal strategy to compute the nominal trajectory off-line. An example of the computational methods to implement this approach conclude the paper together with some simulation results