Canonical transformations in the optimal control of mechanical systems

In this paper the canonical perturbation method, which is widely used in analytical mechanics, is applied to optimal control problems. It is shown that the state and adjoint equations present additional interesting symmetries if the state equations are themselves of the Hamiltonian type, which is frequently the case if a mechanical system is to be controlled. The application of the canonical perturbation method to optimal control problems turns out to be particularly simple, if the optimal control is piecewise constant. Several examples are considered.     

改进PSO算法在结构作动器位置优化中的应用

针对空间结构振动主动控制中的作动器位置优化问题, 提出了一种改进的粒子群(PSO) 优化方法, 以系统总能量为性能指标进行优化; 应用改进PSO方法对算例结构进行了计算, 并与其他算法的优化结果进行了对比; 结果表明: 几种优化方法计算结果相符; 且 PSO优化算法能更有效快速地解决复杂优化问题, 从而有效地进行结构的振动控制.     

A note on strochastic optimal control of reflected diffusions with jumps

Stochastic optimal control problems for a class of reflected diffusion with Poisson jumps in a half-space are considered. The nonlinear Nisio’s semigroup for such optimal control problems was constructed. A Hamilton-Jacobi-Bellman equation with the Neumann boundary condition associated with this semigroup was obtained. Then, viscosity solutions of this equation were defined and discussed, and various uniqueness of this equation was also considered. Finally, the value function was such optimal control problems is shown to be a viscosity solution of this equation.     

On problems of optimal design of shallow shell with double curvature on elastic foundation

The present paper discusses a method of optimal design of the shallow shell with double curvature on the elastic foundation Substantially we take the initial flexural function as the control function or design variable which will be found and the potential energy of the external loads as the criterion of quality of the optimal design of the shallow shell with double curvature, therefore the functional of the potential energy will be aim function. The optimal conditions and the isoperimetric conditions belong to the constrained conditions. thus we obtain the necessary conditions of the optimal design for the given problems, at the same time the conjugate function is introduced, then the problems are reduced to the solutions of two boundary value problems for the differential equation of conjugate function and the initial flexual function.     

Duality among Optimal Design Problems for Torsional Vibration

ABSTRACT

Four types of mass and frequency optimization problems are stated for free torsional vibration of thin-walled cylinders subject to constraints on wall thickness and frequencies of vibration. It is shown, using Pontryagin's method, that the mathematical structure of all four problems is similar and leads to identical classes of optimal thickness distributions. These duality relations are used in an example to construct an optimal frequency solution from the solutions for both maximum and minimum mass problems. General relations among the governing parameters for the four problems are stated. The results of Grinev and Filippov and of Thermann for the abnormal optimization problems are verfied as a specific limiting example of the general results.     

Optimal control and analysis of stabilometric tests with step disturbances of human sensory systems

Several optimal control problems are considered for a human motion model in the case of stabilometric tests when the posture of a person changes under a step disturbance. Such a situation is observed in the case of a galvanic vestibular stimulation or a vibration stimulation of the proprioceptors of shin muscles. Stabilometric tests with visual step disturbance are widespread in Russia. A characteristic feature of center of pressure (COP) trajectories for these tests is the presence of swings and overshoots. The test results are compared with the solutions of optimal control problems devoted to the repositioning of an inverted pendulum by a coupling torque. A speed-of-response problem and an optimal stabilization problem with a quadratic quality criterion are considered. The solutions to these optimum problems are compared with the results of stabilometric tests, which allows one to state a hypothesis on the sources of the above effects.     

A NOTE ON STOCHASTIC OPTIMAL CONTROL OF REFLECTED DIFFUSIONS WITH JUMPS

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Numerical approximation of optimal control of unsteady flows using SQP and time decomposition

In this paper, we present numerical approximations of optimal control of unsteady flow problems using sequential quadratic programming method (SQP) and time domain decomposition. The SQP method is considered superior due to its fast convergence and its ability to take advantage of existing numerical techniques for fluid flow problems. It iteratively solves a sequence of linear quadratic optimal control problems converging to the solution of the non‐linear optimal control problem. The solution to the linear quadratic problem is characterized by the Karush–Kuhn–Tucker (KKT) optimality system which in the present context is a formidable system to solve. As a remedy various time domain decompositions, inexact SQP implementations and block iterative methods to solve the KKT systems are examined. Numerical results are presented showing the efficiency and feasibility of the algorithms. Copyright © 2004 John Wiley & Sons, Ltd.     

计算最优控制辛数值方法

针对最优控制问题（OCP）的辛数值方法研究及应用进行综述。主要涉及内容包括,动力学系统为常微分方程描述的一般无约束、含不等式约束和状态时滞的最优控制问题,微分代数方程描述的一般无约束、含不等式约束和含切换系统的最优控制问题,以及闭环最优控制问题。从间接法和直接法两个求解框架出发,重点介绍本课题组在保辛算法方面的研究工作。在间接法框架下,首先基于生成函数和变分原理,将OCP保辛离散为非线性方程组,再数值求解方程组。在直接法框架下,将OCP保辛离散为有限维的非线性规划问题（NLP）,再数值求解。针对闭环最优控制问题,提出了保辛模型预测控制、滚动时域估计和瞬时最优控制算法。研究表明,保辛算法具有高精度和高效率的特点,在航空航天和机器人等领域有着广泛应用前景和价值。     

哈密顿系统正则变换在时变最优控制中的应用

利用哈密顿系统正则变换和生成函数理论求解线性时变最优控制问题,构造了新的最优控制律形式并提出了控制增益计算的保结构算法. 利用生成函数求解最优控制导出的哈密顿系统两端边值问题,并构造线性时变系统的最优控制律,由第2类生成函数所构造的最优控制律避免了末端时刻出现无穷大反馈增益. 控制系统设计中需求解生成函数满足的时变矩阵微分方程组. 根据生成函数与哈密顿系统状态转移矩阵之间的关系,从正则变换的辛矩阵描述出发,导出了求解这组微分方程组的保结构递推算法.为了保持递推计算中的辛矩阵结构,哈密顿系统状态转移矩阵的计算中利用了Magnus级数.      

Sensitivity Analysis and Optimal Design of Nonlinear Beams and Plates

A uniform formulation of sensitivity analysis for beams and plates is presented in terms of generalized stresses and strains. Both physical and geometric nonlinearities can be treated within this formulation. Next, optimal design problems for stress and deflection constraints are formulated and the relevant optimality conditions are derived using the concept of a linear adjoint structure. Finally, several numerical solutions of optimal design problems of beams are presented.     

Optimal Design of Viscoelastic Structures under Forced Steady-State Vibration

ABSTRACT

ABSTRACT With minimum dynamic response as the design criterion, we derive by means of variational analysis a general set of equations governing optimal design of one-dimensional, viscoelastic structures acted on by harmonically varying external loading. The equations are specialized to problems of minimizing transverse vibrational response of beams by attaching optimal, nonuniform cover layers made of a solid, viscoelastic material on the beams. Several numerical solutions to such problems are presented.     

Optimization of Axisymmetric Membrane Shells Against Brittle Fracture

The questions investigated in this paper are related to an important class of problems of optimal design of structures against brittle fracture. The primary problem of axisymmetric shell optimization under fracture mechanics constraint is formulated as the weight (volume of the shell material) minimization under stress intensity constraints. Considered problems are characterized by incomplete information concerning crack size, crack location and its orientation. Taking into account the factor of incomplete information the paper presents the formulation of optimal shell design problem based on minimax (guaranteed) approach and provides some results of analytical investigation for thin-walled shells with through cracks.     

作动器/传感器优化配置的研究进展

给出了作动器／传感器优化配置问题的数学描述,综述了作动器／传感器优化配置方法的发展现状．阐述了振动控制和模态试验中作动器／传感器优化配置的关系．并给出需要进一步研究的几个问题      

Identification of the parameters of the stress–strain problem for a multicomponent elastic body with an inclusion

Explicit expressions for residual functional gradients are derived. They are used to identify, using gradient methods, the parameters of elastic problems for multicomponent bodies. The method employs the solutions of conjugate problems in the theory (developed by the authors) of optimal control of distributed multicomponent systems     

Optimal Control of Turbulent Flow as Measure Solutions

Abstract

We use the concept of relaxed or measure-valued solutions for control problems of turbulent flow related to Navicr-Stokes equation. Sufficient conditions guaranteeing the existence of measure solutions arc presented. Results on existence of optimal controls for Blow up time and Bolza problems for such systems are also presented. New results on relaxed necessary conditions of optimality are proved. Further it is shown that the relaxed necessary conditions reduce to classical Pontryagin type necessary conditions if measure solutions degenerate into Dirac structure. The paper is concluded with an algorithm based on the new necessary conditions for computing optimal controls.     

The Okhotsimskii-Pontryagin method in control theory and analytical mechanics. Part I

The Okhotsimskii method for the differentiation of functionals in control theory is discussed on the basis of the Pontryagin formalism. The association of this method with other approaches to solving control problems and with methods of analytical mechanics is studied. Some typical cases of solving optimal control problems are considered.     

广义Jacobi方法的优化算法

针对有限单元法结构分析中的对称方阵广义特征值问题,提出广义Jacobi方法的一种优化算法. 在该算法中,对非对角元素的阈值判断和扫描圈迭代的收敛准则采用了与以往文献中不同的新颖措施,使得该算法不仅适用于对称正定方阵,而且还可应用于全部特征值均为实数时任意对称方阵的广义特征值问题. 并对这一算法给出了证明.      

Optimal Elastic Design for Prescribed Maximum Deflection

ABSTRACT

For the problems of the optimal elastic design with prescribed maximum deflection, a variational formulation is proposed, with reference to the one-or two-dimensional bending structures.

Necessary optimum conditions are found, and the physical features of the optimal solutions are discussed for the “absolute” minimum cost problems, and, when dealing with beams, for the solutions with piece-wise constant design function.

Some examples are solved by using numerical methods that are directly derived from the variational formulation.     

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将双优化设计变量转化为单优化设计变量,从而建立起预应力方钢管混凝土柱的优化设计数 学模型. 利用罚函数外点法导出了优化设计变量的迭代计算公式,并给出了获得最优解的二 重迭代法计算步骤. 算例结果分析表明,本法对解决预应力方钢管混凝土柱截面优化问题, 具有概念简单,计算方便的特点,并为此类非线性规划问题提供了较好的求解途径.