A priori error estimates for optimal control problems with pointwise constraints on the gradient of the state

We analyze a finite element approximation of an elliptic optimal control problem with pointwise bounds on the gradient of the state variable. We derive convergence rates if the control space is discretized implicitly by the state equation. In contrast to prior work we obtain these results directly from classical results for the W ^1,∞-error of the finite element projection, without using adjoint information. If the control space is discretized directly, we first prove a regularity result for the optimal control to control the approximation error, based on which we then obtain analogous convergence rates.     

A posteriori error estimates for optimal control problems governed by parabolic equations

Summary. In this paper, we derive a posteriori error estimates for the finite element approximation of quadratic optimal control problem governed by linear parabolic equation. We obtain a posteriori error estimates for both the state and the control approximation. Such estimates, which are apparently not available in the literature, are an important step towards developing reliable adaptive finite element approximation schemes for the control problem. Received July 7, 2000 / Revised version received January 22, 2001 / Published online January 30, 2002 RID="*" ID="*" Supported by EPSRC research grant GR/R31980     

A posteriori error estimates for hp finite element solutions of convex optimal control problems

In this paper, we present a posteriori error analysis for hp finite element approximation of convex optimal control problems. We derive a new quasi-interpolation operator of Clément type and a new quasi-interpolation operator of Scott-Zhang type that preserves homogeneous boundary condition. The Scott-Zhang type quasi-interpolation is suitable for an application in bounding the errors in L²-norm. Then hp a posteriori error estimators are obtained for the coupled state and control approximations. Such estimators can be used to construct reliable adaptive finite elements for the control problems.     

Elliptic control problems with gradient constraints—variational discrete versus piecewise constant controls

We consider an elliptic optimal control problem with pointwise bounds on the gradient of the state. To guarantee the required regularity of the state we include the L ^r -norm of the control in our cost functional with r>d (d=2,3). We investigate variational discretization of the control problem (Hinze in Comput. Optim. Appl. 30:45–63, 2005) as well as piecewise constant approximations of the control. In both cases we use standard piecewise linear and continuous finite elements for the discretization of the state. Pointwise bounds on the gradient of the discrete state are enforced element-wise. Error bounds for control and state are obtained in two and three space dimensions depending on the value of r.     

A posteriori error estimates for mixed finite element solutions of convex optimal control problems

In this paper, we present an a posteriori error analysis for mixed finite element approximation of convex optimal control problems. We derive a posteriori error estimates for the coupled state and control approximations under some assumptions which hold in many applications. Such estimates can be used to construct reliable adaptive mixed finite elements for the control problems.     

Solving some optimal control problems using the barrier penalty function method

In this paper we present a new approach to solve a two-level optimization problem arising from an approximation by means of the finite element method of optimal control problems governed by unilateral boundary-value problems. The problem considered is to find a minimum of a functional with respect to the control variablesu. The minimized functional depends on control variables and state variablesx. The latter are the optimal solution of an auxiliary quadratic programming problem, whose parameters depend onu.Our main idea is to replace this QP problem by its dual and then apply the barrier penalty method to this dual QP problem or to the primal one if it is in an appropriate form. As a result we obtain a problem approximating the original one. Its good property is the differentiable dependence of state variables with respect to the control variables. Furthermore, we propose a method for finding an approximate solution of a penalized lower-level problem if the optimal solution of the original QP problem is known. We apply the result obtained to some optimal shape design problems governed by the Dirichlet-Signorini boundary-value problem.This research was supported by the Academy of Finland and the Systems Research Institute of the Polish Academy of Sciences.     

Recovery type superconvergence and a posteriori error estimates for control problems governed by Stokes equations

In this paper, we derive recovery type superconvergence analysis and a posteriori error estimates for the finite element approximation of the distributed optimal control governed by Stokes equations. We obtain superconvergence results and asymptotically exact a posteriori error estimates by applying two recovery methods, which are the patch recovery technique and the least-squares surface fitting method. Our results are based on some regularity assumption for the Stokes control problems and are applicable to the first order conforming finite element method with regular but nonuniform partitions.     

A characteristic finite element method for optimal control problems governed by convection-diffusion equations

In this paper we analyze a characteristic finite element approximation of convex optimal control problems governed by linear convection-dominated diffusion equations with pointwise inequality constraints on the control variable, where the state and co-state variables are discretized by piecewise linear continuous functions and the control variable is approximated by either piecewise constant functions or piecewise linear discontinuous functions. A priori error estimates are derived for the state, co-state and the control. Numerical examples are given to show the efficiency of the characteristic finite element method.     

Analysis and finite element approximation of an optimal control problem in electrochemistry with current density controls

Summary. An optimal control problem for impressed cathodic systems in electrochemistry is studied. The control in this problem is the current density on the anode. A matching objective functional is considered. We first demonstrate the existence and uniqueness of solutions for the governing partial differential equation with a nonlinear boundary condition. We then prove the existence of an optimal solution. Next, we derive a necessary condition of optimality and establish an optimality system of equations. Finally, we define a finite element algorithm and derive optimal error estimates. Received March 10, 1993 / Revised version received July 4, 1994     

Vertical slot fishways: Mathematical modeling and optimal management

Fishways are the main type of hydraulic devices currently used to facilitate migration of fish past obstructions (dams, waterfalls, rapids,…$\mathrm{rapids},\dots$) in rivers. In this paper we present a mathematical formulation of an optimal control problem related to the optimal management of a vertical slot fishway, where the state system is given by the shallow water equations, the control is the flux of inflow water, and the cost function reflects the need of rest areas for fish and of a water velocity suitable for fish leaping and swimming capabilities. We give a first-order optimality condition for characterizing the optimal solutions of this problem. From a numerical point of view, we use a characteristic-Galerkin method for solving the shallow water equations, and we use an optimization algorithm for the computation of the optimal control. Finally, we present numerical results obtained for the realistic case of a standard nine pools fishway.     

Normal and tangential continuous elements for least‐squares mixed finite element methods

We consider a finite element discretization of the primal first‐order least‐squares mixed formulation of the second‐order elliptic problem. The unknown variables are displacement and flux, which are approximated by equal‐order elements of the usual continuous element and the normal continuous element, respectively. We show that the error bounds for all variables are optimal. In addition, a field‐based least‐squares finite element method is proposed for the 3D‐magnetostatic problem, where both magnetic field and magnetic flux are taken as two independent variables which are approximated by the tangential continuous and the normal continuous elements, respectively. Coerciveness and optimal error bounds are obtained. © 2004 Wiley Periodicals, Inc. Numer Methods Partial Differential Eq, 2004.     

Second order Hamilton–Jacobi–Bellman equations with an unbounded operator

This work is devoted to the study of a class of Hamilton–Jacobi–Bellman equations associated to an optimal control problem where the state equation is a stochastic differential inclusion with a maximal monotone operator. We show that the value function minimizing a Bolza-type cost functional is a viscosity solution of the HJB equation. The proof is based on the perturbation of the initial problem by approximating the unbounded operator. Finally, by providing a comparison principle we are able to show that the solution of the equation is unique.     

Second-Order Necessary Optimality Conditions for Some State-Constrained Control Problems of Semilinear Elliptic Equations

In this paper we are concerned with some optimal control problems governed by semilinear elliptic equations. The case of a boundary control is studied. We consider pointwise constraints on the control and a finite number of equality and inequality constraints on the state. The goal is to derive first- and second-order optimality conditions satisfied by locally optimal solutions of the problem. Accepted 6 May 1997     

Analysis of a multistate control problem related to food technology

This paper is concerned with an optimal control problem related to the determination of an optimal profile for the steam temperature into the autoclave along the processing of canned foods. The problem studies a system coupling the evolution Navier-Stokes equations with the heat transfer equation by natural convection (the so-called Boussinesq equations), and with the microorganisms removal equation. The essential difficulties in the study of this multistate control problem arise from the lack of uniqueness for the solution of the state system. Here we obtain—after a careful analysis of the problem mathematical formulation—the uniqueness of part of the state, and the existence of optimal solutions.     

Solving optimal control problems for the unsteady Burgers equation in COMSOL Multiphysics

The optimal control of unsteady Burgers equation without constraints and with control constraints are solved using the high-level modelling and simulation package COMSOL Multiphysics. Using the first-order optimality conditions, projection and semi-smooth Newton methods are applied for solving the optimality system. The optimality system is solved numerically using the classical iterative approach by integrating the state equation forward in time and the adjoint equation backward in time using the gradient method and considering the optimality system in the space-time cylinder as an elliptic equation and solving it adaptively. The equivalence of the optimality system to the elliptic partial differential equation (PDE) is shown by transforming the Burgers equation by the Cole-Hopf transformation to a linear diffusion type equation. Numerical results obtained with adaptive and nonadaptive elliptic solvers of COMSOL Multiphysics are presented both for the unconstrained and the control constrained case.     

Boundary optimal control for nonlinear antiplane problems

We consider a nonlinear antiplane problem which models the deformation of an elastic cylindrical body in frictional contact with a rigid foundation. The contact is modelled with Tresca’s law of dry friction in which the friction bound is slip dependent.The aim of this article is to study an optimal control problem which consists of leading the stress tensor as close as possible to a given target, by acting with a control on the boundary of the body. The existence of at least one optimal control is proved. Next we introduce a regularized problem, depending on a small parameter ρ, and we study the convergence of the optimal controls when ρ tends to zero. An optimality condition is delivered for the regularized problem.     

Quasi-norm a priori and a posteriori error estimates for the nonconforming approximation of p-Laplacian

Summary. In this paper, we derive quasi-norm a priori and a posteriori error estimates for the Crouzeix-Raviart type finite element approximation of the p-Laplacian. Sharper a priori upper error bounds are obtained. For instance, for sufficiently regular solutions we prove optimal a priori error bounds on the discretization error in an energy norm when . We also show that the new a posteriori error estimates provide improved upper and lower bounds on the discretization error. For sufficiently regular solutions, the a posteriori error estimates are further shown to be equivalent on the discretization error in a quasi-norm. Received January 25, 1999 / Revised version received June 5, 2000 Published online March 20, 2001     

Long time missions and the fuel-optimal attitude maneuvering in a swinging mode

The problem of fuel-optimal attitude maneuvering of a space vehicle (SV) with non-fixed time is considered. The state constraint related to the maintenance of artificial gravitation is imposed. This problem is especially important for long-time space missions. The attitude of the space vehicle is controlled by means of a pair of reactive engines which produce a single control torque with fixed direction in the body-fixed frame. An optimal solution is obtained in the class of trajectories belonging to “swinging mode” two-periodic sliding cycling regimes. The solution is found in analytical form and optimal synthesis is obtained. The short conference version of this paper was published in Proceedings of the IFAC Workshop GSCP-04, Pereyslavl-Zalessky, Russia, September 21–29, 2004. This paper was presented as an invited lecture at the International Conference on Control and Optimization in honor of Professor Boris Polyak, Institute of Control Science RAN, Russia, Moscow, May 19–20, 2005.     

Finite Element Analysis of an Optimal Control Problem in the Coefficients of Time-Harmonic Eddy Current Equations

This paper is concerned with an optimal control problem governed by time-harmonic eddy current equations on a Lipschitz polyhedral domain. The controls are given by scalar functions entering in the coefficients of the curl-curl differential operator in the state equation. We present a mathematical analysis of the optimal control problem, including sensitivity analysis, regularity results, existence of an optimal control, and optimality conditions. Based on these results, we study the finite element analysis of the optimal control problem. Here, the state is discretized by the lowest order edge elements of Nédélec??s first family, and the control is discretized by continuous piecewise linear elements. Our main findings are convergence results of the finite element discretization (without a rate).     

Variational approach and optimal control of a PEM fuel cell

The purpose of this paper is to propose and study a mathematical model and a boundary control problem associated to the miscible displacement of hydrogen through the porous anode of a PEM fuel cell. Throughout the paper, we study certain variational problems with a priori regularity properties of the weak solutions. We obtain the existence of less regular solutions and then we prove the desired regularity of these solutions. We consider a control problem that permits to determine the boundary distribution of the pressure which provides an optimal configuration for the temperature and for the concentration, as well. Since the solution of the problem is not unique, the control variable does not appear explicitly in the definition of our cost functional. To overcome this difficulty, we introduce a family of penalized control problems which approximates our boundary control problem. The necessary conditions of optimality are derived by passing to the limit in the penalized optimality conditions.