Decentralized optimal control of dynamical systems under uncertainty

The problem of optimal control of a group of interconnected dynamical objects under uncertainty is considered. The cases are examined in which the centralized control of the group of objects is impossible due to delay in the channel for information exchange between the group members. Optimal self-control algorithms in real time for each dynamical object are proposed. Various types of a priori and current information about the behavior of the group members and about uncertainties in the system are examined. The proposed methods supplement the earlier developed optimal control methods for an individual dynamical system and the methods of decentralized optimal control of deterministic objects. The results are illustrated with examples.     

Stability Analysis of Optimal Control Systems via Liapunov Method

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Control of the Burgers Equation by a Reduced-Order Approach Using Proper Orthogonal Decomposition

Proper orthogonal decomposition (POD) is a method to derive reduced-order models for dynamical systems. In this paper, POD is utilized to solve open-loop and closed-loop optimal control problems for the Burgers equation. The relative simplicity of the equation allows comparison of POD-based algorithms with numerical results obtained from finite-element discretization of the optimality system. For closed-loop control, suboptimal state feedback strategies are presented.     

Real-time calculation of current optimal feedbacks for a delay system

A linear optimal control problem for a nonstationary system with a single delay state variable is examined. A fast implementation of the dual method is proposed in which a key role is played by a quasi-reduction of the fundamental matrices of solutions to the homogeneous part of the delay models under analysis. As a result, an iteration step of the dual method involves only the integration of auxiliary systems of ordinary differential equations over short time intervals. A real-time algorithm is described for calculating optimal feedback controls. The results are illustrated by the optimal control problem for a second-order stationary system with a fixed delay.     

Impulsive optimal control with finite or infinite time horizon

We consider a dynamical system subjected to feedback optimal control in such a way that the evolution of the state exhibits both sudden jumps and continuous changes. Previously obtained necessary conditions (Ref. 1) for such impulsive optimal feedback controls are generalized to admit the case of infinite time horizon; this generalization permits application to a wider class of problems. The results are illustrated by application to a version of the innkeeper's problem.Dedicated to G. Leitmann     

Optimal guaranteed control of linear systems under disturbances

This paper is devoted to the problem of the minimax control of a dynamical system with quadratic performance functional under external disturbances and geometric control constraints. The optimal guaranteed control strategy is obtained in explicit form.Translated fromMatematicheskie Zametki, Vol. 60, No. 2, pp. 198–205, August, 1996.This research was supported by the Russian Foundation for Basic Research under grant No. 95-01-000771a.     

THE OPTIMAL CONTROL SYSTEM OF 3D HORIZONTAL WELL AND ITS APPLICATION

A multi-objective optimal control model for nonlinear multilevel dynamicalsystem is built in this paper. The existence of the solutions to this systemand the controllability and the polykeys of the control are discussed. In orderto obtain the global optimal solution, Uniform Design method is introducedto select initial1 feasible points, then an improved Hooke-jeeves algorithm isproposed. The new algorithm and its corresponding software we developed hasvalidated in more than 12 horizontal wells, which show their advantages suchas less length of trajectory designed, more accuracy of target hitting and lesstime-consuming comparison with present conventional method.     

An Optimal Control Problem of a Coupled Nonlinear Parabolic Population System

An optimal control problem for a coupled nonlinear parabolic population system is considered. The existence and uniqueness of the positive solution for the system is shown by the method of upper and lower solutions. An explicit prior bound of solutions to the system is given by considering an auxiliary coupled linear system. The existence of the optimal control is proved and the characterization of the optimal control is established.     

Parametric Sensitivity Analysis of Perturbed PDE Optimal Control Problems with State and Control Constraints

We study parametric optimal control problems governed by a system of time-dependent partial differential equations (PDE) and subject to additional control and state constraints. An approach is presented to compute the optimal control functions and the so-called sensitivity differentials of the optimal solution with respect to perturbations. This information plays an important role in the analysis of optimal solutions as well as in real-time optimal control.The method of lines is used to transform the perturbed PDE system into a large system of ordinary differential equations. A subsequent discretization then transcribes parametric ODE optimal control problems into perturbed nonlinear programming problems (NLP), which can be solved efficiently by SQP methods.Second-order sufficient conditions can be checked numerically and we propose to apply an NLP-based approach for the robust computation of the sensitivity differentials of the optimal solutions with respect to the perturbation parameters. The numerical method is illustrated by the optimal control and sensitivity analysis of the Burgers equation.Communicated by H. J. Pesch     

Optimal Control of One-Dimensional Partial Differential Algebraic Equations with Applications

We present an approach to compute optimal control functions in dynamic models based on one-dimensional partial differential algebraic equations (PDAE). By using the method of lines, the PDAE is transformed into a large system of usually stiff ordinary differential algebraic equations and integrated by standard methods. The resulting nonlinear programming problem is solved by the sequential quadratic programming code NLPQL. Optimal control functions are approximated by piecewise constant, piecewise linear or bang-bang functions. Three different types of cost functions can be formulated. The underlying model structure is quite flexible. We allow break points for model changes, disjoint integration areas with respect to spatial variable, arbitrary boundary and transition conditions, coupled ordinary and algebraic differential equations, algebraic equations in time and space variables, and dynamic constraints for control and state variables. The PDAE is discretized by difference formulae, polynomial approximations with arbitrary degrees, and by special update formulae in case of hyperbolic equations. Two application problems are outlined in detail. We present a model for optimal control of transdermal diffusion of drugs, where the diffusion speed is controlled by an electric field, and a model for the optimal control of the input feed of an acetylene reactor given in form of a distributed parameter system.     

最速反馈控制的不变性

变结构控制对系统模型和扰动具有一定的不变性是众所周知的事实。最速反馈控制是以其开关曲线为滑动曲线的变结构控制。本文用变结构控制理论来讨论修正了的最速反馈控制对一定范围的系统扰动具有完全的不变性,即完全能够抑制一定范围的扰动作用,而且闭环系统的所有轨线,在理论上,都以有限时间到达原点。这就为设计高效非线性反馈提供了一条有效途径,还给出了避免高频颤震来实现最速反馈控制的数字化办法。     

Optimal control of stochastic differential equations with dynamical boundary conditions

In this paper we investigate the optimal control problem for a class of stochastic Cauchy evolution problems with nonstandard boundary dynamic and control. The model is composed by an infinite dimensional dynamical system coupled with a finite dimensional dynamics, which describes the boundary conditions of the internal system. In other terms, we are concerned with nonstandard boundary conditions, as the value at the boundary is governed by a different stochastic differential equation.     

Nonlinear Programming Methods for Real-Time Control of an Industrial Robot

The optimal control of an industrial robot is considered as a parametricnonlinear control problem subject to control and state constraints. Based onrecent stability results for parametric control problems, a robust nonlinearprogramming method is proposed to compute the sensitivity of open-loopcontrol solutions. Real-time control approximations of the perturbedoptimal solutions are obtained by evaluating first-order Taylor expansionsof the optimal solutions with respect to the parameter. The proposednumerical methods are applied to the industrial robot Manutec r3. Thequality of the real-time approximations is illustrated for perturbations inthe transport load.     

Indirect Obstacle Minimax Control for Elliptic Variational Inequalities

A minimax control problem for a coupled system of a semilinear elliptic equation and an obstacle variational inequality is considered. The major novelty of such problem lies in the simultaneous presence of a nonsmooth state equation (variational inequality) and a nonsmooth cost function (sup norm). In this paper, the existence of optimal controls and the optimality conditions are established.     

The Optimal Control of a Train

We consider the problem of determining an optimal driving strategy in a train control problem with a generalised equation of motion. We assume that the journey must be completed within a given time and seek a strategy that minimises fuel consumption. On the one hand we consider the case where continuous control can be used and on the other hand we consider the case where only discrete control is available. We pay particular attention to a unified development of the two cases. For the continuous control problem we use the Pontryagin principle to find necessary conditions on an optimal strategy and show that these conditions yield key equations that determine the optimal switching points. In the discrete control problem, which is the typical situation with diesel-electric locomotives, we show that for each fixed control sequence the cost of fuel can be minimised by finding the optimal switching times. The corresponding strategies are called strategies of optimal type and in this case we use the Kuhn–Tucker equations to find key equations that determine the optimal switching times. We note that the strategies of optimal type can be used to approximate as closely as we please the optimal strategy obtained using continuous control and we present two new derivations of the key equations. We illustrate our general remarks by reference to a typical train control problem.     

微生物批式流加发酵多阶段最优控制的最优性条件

在微生物批式流加发酵生产1,3一丙二醇(1,3-PD)过程中,关键是如何控制甘油和碱的流加速度.本文将流加速度看成一个随时间变化的控制函数,提出一个带控制的多阶段动力系统描述批式发酵过程,并证明了系统的一些性质.以终端时刻1,3-PD的生产强度最大为性能指标,以上述动力系统和连续状态不等式为约束条件建立了最优控制模型,最后利用不可微优化理论得到了最优控制问题的最优性条件,并证明了最优性条件和最优性函数零点的等价性.     

SOLVING A CROP PROBLEM BY AN OPTIMAL CONTROL METHOD

ABSTRACT. A system of ordinary differential equations coupled with a parabolic partial differential equation is studied in order to understand an interaction between two crops and a pathogen. Two different types of crops are planted in same field in some pattern so that the spread of pathogen can be controlled. The pathogen prefers to eat one crop. The other crop, which is not preferred by the pathogen, is introduced to control the spread of pathogen in the farming land. The “optimal” initial planting pattern is sought to maximize plant yields while minimizing the variation in the planting pattern. The optimal pattern is characterized by a variation inequality involving the solutions of the optimality system. Numerical examples are given to illustrate the results.     

Boundary Control of Physical Fields in a Piezoceramic Layer Having a Tunnel Hole with a System of Electrodes

An approach to the optimal (from the viewpoint of minimum energy consumption) control of the characteristics of coupled fields is illustrated with the example of an antiplane dynamic problem of electroelasticity for a piezoceramic layer with a tunnel hole. The vibrations in the layer are excited by time-dependent harmonic loads of two types: by the difference of electric potentials applied to a pair of infinitely long electrodes located on the surface of the hole and by shear forces or electric charges continuously distributed on the given sections of the layer base, which are assumed as control actions. The inverse problem is solved by using the solution of the corresponding direct mixed antiplane problem of electroelasticity, with the help of which the optimization problem is reduced to the -problem of moments. The functions of optimal control allowing one, for example, to disconnect the external circuit of the generator of electric voltage are given.     

On a Class of Optimal Control Problems with State Jumps

In this paper, we consider a class of optimal control problems in which the dynamical system involves a finite number of switching times together with a state jump at each of these switching times. The locations of these switching times and a parameter vector representing the state jumps are taken as decision variables. We show that this class of optimal control problems is equivalent to a special class of optimal parameter selection problems. Gradient formulas for the cost functional and the constraint functional are derived. On this basis, a computational algorithm is proposed. For illustration, a numerical example is included.