Modified Legendre–Gauss–Radau Collocation Method for Optimal Control Problems with Nonsmooth Solutions

A new method is developed for solving optimal control problems whose solutions are nonsmooth. The method developed in this paper employs a modified form of the Legendre–Gauss–Radau orthogonal direct collocation method. This modified Legendre–Gauss–Radau method adds two variables and two constraints at the end of a mesh interval when compared with a previously developed standard Legendre–Gauss–Radau collocation method. The two additional variables are the time at the interface between two mesh intervals and the control at the end of each mesh interval. The two additional constraints are a collocation condition for those differential equations that depend upon the control and an inequality constraint on the control at the endpoint of each mesh interval. The additional constraints modify the search space of the nonlinear programming problem such that an accurate approximation to the location of the nonsmoothness is obtained. The transformed adjoint system of the modified Legendre–Gauss–Radau method is then developed. Using this transformed adjoint system, a method is developed to transform the Lagrange multipliers of the nonlinear programming problem to the costate of the optimal control problem. Furthermore, it is shown that the costate estimate satisfies one of the Weierstrass–Erdmann optimality conditions. Finally, the method developed in this paper is demonstrated on an example whose solution is nonsmooth.

     

Approximate solution of the linear quadratic control problem

In this paper the Legendre polynomials method is applied in order to find the approximate solution of the linear quadratic optimal control problem with imposed inequality constraints. The computational procedure based on the obtained results, is presented     

Fractional-Order Legendre Functions and Their Application to Solve Fractional Optimal Control of Systems Described by Integro-differential Equations

In this paper, we introduce a set of functions called fractional-order Legendre functions (FLFs) to obtain the numerical solution of optimal control problems subject to the linear and nonlinear fractional integro-differential equations. We consider the properties of these functions to construct the operational matrix of the fractional integration. Also, we achieved a general formulation for operational matrix of multiplication of these functions to solve the nonlinear problems for the first time. Then by using these matrices the mentioned fractional optimal control problem is reduced to a system of algebraic equations. In fact the functions of the problem are approximated by fractional-order Legendre functions with unknown coefficients in the constraint equations, performance index and conditions. Thus, a fractional optimal control problem converts to an optimization problem, which can then be solved numerically. The convergence of the method is discussed and finally, some numerical examples are presented to show the efficiency and accuracy of the method.     

基于高斯伪谱的最优控制求解及其应用

研究一种基于高斯伪谱法的具有约束受限的最优控制数值计算问题.方法将状态演化和控制规律用多项式参数化近似,微分方程用正交多项式近似.将最优控制问题求解问题转化为一组有约束的非线性规划求解.详细论述了该种近似方法的有效性.作为该种方法的应用,讨论了一个障碍物环境下的机器人最优路径生成问题.将机器人路径规划问题转化为具有约束条件最优控制问题,然后用基于高斯伪谱的方法求解,并给出了仿真结果.     

Solution of nonlinear weakly singular Volterra integral equations using the fractional‐order Legendre functions and pseudospectral method

In this article, our main goal is to render an idea to convert a nonlinear weakly singular Volterra integral equation to a non‐singular one by new fractional‐order Legendre functions. The fractional‐order Legendre functions are generated by change of variable on well‐known shifted Legendre polynomials. We consider a general form of singular Volterra integral equation of the second kind. Then the fractional Legendre–Gauss–Lobatto quadratures formula eliminates the singularity of the kernel of the integral equation. Finally, the Legendre pseudospectral method reduces the solution of this problem to the solution of a system of algebraic equations. This method also can be utilized on fractional differential equations as well. The comparison of results of the presented method and other numerical solutions shows the efficiency and accuracy of this method. Also, the obtained maximum error between the results and exact solutions shows that using the present method leads to accurate results and fast convergence for solving nonlinear weakly singular Volterra integral equations. Copyright © 2015 John Wiley & Sons, Ltd.     

Legendre multiscaling functions for solving the one‐dimensional parabolic inverse problem

An inverse problem concerning diffusion equation with a source control parameter is investigated. The approximation of the problem is based on the Legendre multiscaling basis. The properties of Legendre multiscaling functions are first presented. These properties together with Galerkin method are then utilized to reduce the inverse problem to the solution of algebraic equations. Illustrative examples are included to demonstrate the validity and applicability of the new technique. © 2009 Wiley Periodicals, Inc. Numer Methods Partial Differential Eq, 2009     

Rationalized Haar approach for nonlinear constrained optimal control problems

This paper presents a numerical method for solving nonlinear optimal control problems including state and control inequality constraints. The method is based upon rationalized Haar functions. The differential and integral expressions which arise in the system dynamics, the performance index and the boundary conditions are converted into some algebraic equations which can be solved for the unknown coefficients. Illustrative examples are included to demonstrate the validity and applicability of the technique.     

Efficient Spectral Collocation Algorithm for a Two-Sided Space Fractional Boussinesq Equation with Non-local Conditions

A spectral shifted Legendre Gauss–Lobatto collocation method is developed and analyzed to solve numerically one-dimensional two-sided space fractional Boussinesq (SFB) equation with non-classical boundary conditions. The method depends basically on the fact that an expansion in a series of shifted Legendre polynomials \({P_{L,n}(x), \ x\in[0,L]}\) is assumed, for the function and its space-fractional derivatives occurring in the two-sided SFB equation. The Legendre–Gauss–Lobatto quadrature rule is established to treat the non-local conservation conditions, and then the problem with its non-local conservation conditions is reduced to a system of ordinary differential equations (ODEs) in time. Thereby, the expansion coefficients are then determined by reducing the two-sided SFB with its boundary and initial conditions to a system of ODEs for these coefficients. This system may be solved numerically in a step-by-step manner by using implicit Runge–Kutta method of order four. Numerical results indicating the high accuracy and effectiveness of this algorithm are presented.     

State-control spectral Chebyshev parameterization for linearly constrained quadratic optimal control problems

In this paper we propose a computationally attractive numerical method for determining the optimal control of constrained linear dynamic systems with a quadratic performance. The method is based upon constructing the mth degree interpolating polynomials, using Chebyshev nodes, to approximate the control and the state vectors. The system dynamics are collocated at Chebyshev nodes. The performance index is discretized by a cell averaging method. The state and control inequality constraints are converted into algebraic inequalities through collocation at the nodes. The linear quadratic optimal control problem is thereby transformed into a quadratic programming one. Simulation studies demonstrate computational advantages relative to a standard Riccati method, a classical Chebyshev-based method, Fourier-based method and other methods in the literature.     

An Exact Penalty Function Method for Continuous Inequality Constrained Optimal Control Problem

In this paper, we consider a class of optimal control problems subject to equality terminal state constraints and continuous state and control inequality constraints. By using the control parametrization technique and a time scaling transformation, the constrained optimal control problem is approximated by a sequence of optimal parameter selection problems with equality terminal state constraints and continuous state inequality constraints. Each of these constrained optimal parameter selection problems can be regarded as an optimization problem subject to equality constraints and continuous inequality constraints. On this basis, an exact penalty function method is used to devise a computational method to solve these optimization problems with equality constraints and continuous inequality constraints. The main idea is to augment the exact penalty function constructed from the equality constraints and continuous inequality constraints to the objective function, forming a new one. This gives rise to a sequence of unconstrained optimization problems. It is shown that, for sufficiently large penalty parameter value, any local minimizer of the unconstrained optimization problem is a local minimizer of the optimization problem with equality constraints and continuous inequality constraints. The convergent properties of the optimal parameter selection problems with equality constraints and continuous inequality constraints to the original optimal control problem are also discussed. For illustration, three examples are solved showing the effectiveness and applicability of the approach proposed.     

Chebyshev‐Legendre spectral method for solving the two‐dimensional vorticity equations with homogeneous Dirichlet conditions

The Chebyshev‐Legendre spectral method for the two‐dimensional vorticity equations is considered. The Legendre Galerkin Chebyshev collocation method is used with the Chebyshev‐Gauss collocation points. The numerical analysis results under the L²‐norm for the Chebyshev‐Legendre method of one‐dimensional case are generalized into that of the two‐dimensional case. The stability and optimal order convergence of the method are proved. Numerical results are given. © 2008 Wiley Periodicals, Inc. Numer Methods Partial Differential Eq, 2009     

Non-degenerate necessary optimality conditions for the optimal control problem with equality-type state constraints

In this work, an optimal control problem with state constraints of equality type is considered. Novelty of the problem formulation is justified. Under various regularity assumptions imposed on the optimal trajectory, a non-degenerate Pontryagin Maximum Principle is proven. As a consequence of the maximum principle, the Euler–Lagrange and Legendre conditions for a variational problem with equality and inequality state constraints are obtained. As an application, the equation of the geodesic curve for a complex domain is derived. In control theory, the Maximum Principle suggests the global maximum condition, also known as the Weierstrass–Pontryagin maximum condition, due to which the optimal control function, at each instant of time, turns out to be a solution to a global finite-dimensional optimization problem.     

Optimal control computation for integro-differential aerodynamic equations

In order to maintain spectrally accurate solutions, the grids on which a non-linear physical problem is to be solved must also be obtained by spectrally accurate techniques. The purpose of this paper is to describe a pseudospectral computational method of solving integro-differential systems with quadratic performance index. The proposed method is based on the idea of relating grid points to the structure of orthogonal interpolating polynomials. The optimal control and the trajectory are approximated by the m th degree interpolating polynomial. This interpolating polynomial is spectrally constructed using Legendre–Gauss–Lobatto grid points as the collocation points, and Lagrange polynomials as trial functions. The integrals involved in the formulation of the problem are calculated by Gauss–Lobatto integration rule, thereby reducing the problem to a mathematical programming one to which existing well-developed algorithms may be applied. The method is easy to implement and yields very accurate results. An illustrative example is included to confirm the convergence of the pseudospectral Legendre method, and a comparison is made with an existing result in the literature. © 1998 B. G. Teubner Stuttgart–John Wiley & Sons Ltd.     

Legendre polynomial solutions of high-order linear Fredholm integro-differential equations

In this study, a Legendre collocation matrix method is presented to solve high-order Linear Fredholm integro-differential equations under the mixed conditions in terms of Legendre polynomials. The proposed method converts the equation and conditions to matrix equations, by means of collocation points on the interval [−1, 1], which corresponding to systems of linear algebraic equations with Legendre coefficients. Thus, by solving the matrix equation, Legendre coefficients and polynomial approach are obtained. Also examples that illustrate the pertinent features of the method are presented and by using the error analysis, the results are discussed.     

Possibility and necessity representations of fuzzy inequality and its application to two warehouse production-inventory problem

In this paper, possibility and necessity representations of fuzzy inequality constraints are presented and then crisp versions of the constraints are derived. Here analogous to chance constraints, real-life necessity and possibility constraints in the context of two warehouse multi-item dynamic production-inventory control system are defined and defuzzified following fuzzy relations. Hence, a realistic two warehouse multi-item production-inventory model with fuzzy constraints has been formulated for a finite period of time and solved for optimal production with the objective of having maximum profit. The rate of production is unknown, assumed to be a function of time and considered as a control variable. Also the present system produces some defective units alongwith the perfect ones and the rate of produced defective units is stochastic in nature. Demand of the good units is stock dependent and known and the defective units are sold at a reduced price. The space required per unit item and available storage space are assumed to be imprecise. The inequality of budget constraints is also imprecise. The space and budget constraints are expressed as necessity and/or possibility types. The model is reduced to an equivalent deterministic model using fuzzy relations and solved for optimum production function using Pontryagin’s optimal control policy, the Kuhn–Tucker conditions and generalized reduced gradient (GRG) technique. The model is illustrated numerically and values of demand, optimal production function and stock level are presented in both tabular and pictorial forms.     

Pontryagin's principle for problems with isoperimetric constraints and for problems with inequality terminal constraints

Necessary conditions are derived for optimal control problems subject to isoperimetric constraints and for optimal control problems with inequality constraints at the terminal time. The conditions are derived by transforming the problem into the standard form of optimal control problems and then using Pontryagin's principle.     

A computational method for solving optimal control of a system of parallel beams using Legendre wavelets

The optimal control of transverse vibration of two Euler–Bernoulli beams coupled in parallel by discrete springs is considered. An index of performance is formulated which consists of a modified energy functional of two coupled structures at a specified time and penalty functions involving the point control forces. The minimization of the performance index over these forces is subject to the equation of motion governing the structural vibrations, the imposed initial condition as well as the boundary conditions. By use of the modal space technique, the optimal control of distributed parameter systems is simplified into the optimal control of a linear time-invariant lumped-parameter systems. A computationally attractive method based on Legendre wavelets in time domain for solving the optimal control of the lumped parameter systems for any finite interval is proposed. Legendre wavelet integral operational matrix and the properties of a Kronecker product are used to find the approximated optimal trajectory and optimal law of the linear systems with respect to a quadratic cost function by only solving a linear system of algebraic equations. This method provides a straightforward and convenient approach for digital computation. A numerical example is provided to demonstrate the applicability and effectiveness of the proposed method.     

An Exact Penalty Method for Free Terminal Time Optimal Control Problem with Continuous Inequality Constraints

In this paper, we consider a class of optimal control problems with free terminal time and continuous inequality constraints. First, the problem is approximated by representing the control function as a piecewise-constant function. Then the continuous inequality constraints are transformed into terminal equality constraints for an auxiliary differential system. After these two steps, we transform the constrained optimization problem into a penalized problem with only box constraints on the decision variables using a novel exact penalty function. This penalized problem is then solved by a gradient-based optimization technique. Theoretical analysis proves that this penalty function has continuous derivatives, and for a sufficiently large and finite penalty parameter, its local minimizer is feasible in the sense that the continuous inequality constraints are satisfied. Furthermore, this local minimizer is also the local minimizer of the constrained problem. Numerical simulations on the range maximization for a hypersonic vehicle reentering the atmosphere subject to a heating constraint demonstrate the effectiveness of our method.     

基于拟Legendre多项式求解一类分数阶微分方程

本文基于移位的Legendre多项式构造一类新的正交拟Legendre多项式求解一类分数阶微分方程.用阶数随所求未知函数的微分的阶数而变化的拟Legendre多项式逼近未知函数;利用分数阶积分的性质推导拟Legendre多项式的积分算子阵,结合算子矩阵的思想和Tau方法,将问题转化为求解代数方程组的问题.最后,给出数值算例证明该方法的有效性.     

Legendre Wavelets Direct Method for the Numerical Solution of Time-Fractional Order Telegraph Equations

In this paper, a Legendre wavelet collocation method for solving a class of time-fractional order telegraph equation defined by Caputo sense is discussed. Fractional integral formula of a single Legendre wavelet in the Riemann–Liouville sense is derived by means of shifted Legendre polynomials. The main characteristic behind this approach is that it reduces equations to those of solving a system of algebraic equations which greatly simplifies the problem. The convergence analysis and error analysis of the proposed method are investigated. Several examples are presented to show the applicability and accuracy of the proposed method.