A Continuous Implementation of a Second-Variation Optimal Control Method for Space Trajectory Problems

The paper describes a continuous second-variation method to solve optimal control problems with terminal constraints where the control is defined on a closed set. The integration of matrix differential equations based on a second-order expansion of a Lagrangian provides linear updates of the control and a locally optimal feedback controller. The process involves a backward and a forward integration stage, which require storing trajectories. A method has been devised to store continuous solutions of ordinary differential equations and compute accurately the continuous expansion of the Lagrangian around a nominal trajectory. Thanks to the continuous approach, the method adapts implicitly the numerical time mesh and provides precise gradient iterates to find an optimal control. The method represents an evolution to the continuous case of discrete second-order techniques of optimal control. The novel method is demonstrated on bang–bang optimal control problems, showing its suitability to identify automatically optimal switching points in the control without insight into the switching structure or a choice of the time mesh. A complex space trajectory problem is tackled to demonstrate the numerical robustness of the method to problems with different time scales.     

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.     

Impulse and continuous control of piecewise deterministic Markov processes

In this paper we consider the problem of impulse and continuous control on the jump rate and post jump location parameters of piecewise-deterministic Markov processes (PDP's). In a companion paper we studied the optimal stopping with continuous control problem of PDP's assuming only absolutely continuity along trajectories hypothesis on the final cost function. In this paper we apply these results to obtain optimality equations for the impulse and continuous control problem of PDP's in terms of a set of quasi-variational inequalities as well as on the first jump time operator of the process. No continuity or differential assumptions on the whole state space, neither stability assumptions on the parameters of the problem are required. It is shown that if the post intervention operator satisfies some locally lipschitz continuity along trajectories properties then so will the value function of the impulse and continuous control problem.     

一类连续最优控制问题的有限维近似

1　引　　言本文考虑具有状态终端约束、控制受限的非线性连续最优控制问题min　h0(x(0))+∫T0f0(x(t),u(t))dt+g0(x(T))(1.1)s.t.　x(t)=f(x(t),u(t)),　　t∈[0,T](1.2)D(x(0))=0,(1.3)E(x(T))=0,(1.4)S(u(t))≤0,　　t∈[0,T](1.5)其中,h0:Rn→R,f0:Rn×Rm→R,f:Rn×Rm→Rn,g0:Rn→R,D:Rn→Rp,E:Rn→Rq,S:Rm→Rr均为二次连续可微函数.T为终端时间(固定),p,q≤n,x(t)∈W1,∞[0,T]n,u(t)∈L∞[0,T]m分别为状态函数和控制函数.U(t)={u:S(u(t))≤0}为紧凸集.问题(1.1)—(1.5)要求寻找最佳控制u(t)使得目标函数(1.1)达到极小.…     

Some contributions with Petri nets for the modelling, analysis and control of HDS

Petri nets (PN) are useful for the modelling, analysis and control of hybrid dynamical systems (HDS) because PN combine in a comprehensive way discrete events and continuous behaviours. On one hand, PN are suitable for modelling the discrete part of HDS and for providing a discrete abstraction of continuous behaviours. On the other hand, continuous PN are suitable for modelling the continuous part of HDS and for working out a continuous approximation of the discrete part in order to avoid the complexity associated with the exponential growth of discrete states. This paper focuses on the advantages of PN as a modelling tool for HDS. Investigations of such models for diagnosis and control issues are detailed.

Taking inspiration from the discrete event approach, sensor selection for diagnosis is discussed according to the structural analysis of the PN models. Faults are represented with fault transitions and a faulty behaviour occurs when a sequence of transitions is fired that contains at least one fault transition. Minimal sets of observable places are defined for detecting and isolating faulty behaviours.

Taking inspiration from the continuous time approach, flow control of HDS modelled with continuous PN is also investigated. Gradient-based controllers are introduced in order to adapt the firing speeds of some controllable transitions according to a desired trajectory of the marking. The equilibria and stability of the controlled system are studied with Lyapunov functions.     

Optimal stopping with continuous control of piecewise deterministic Markov processes

In this paper we consider the problem of optimal stopping and continuous control on some local parameters of a piecewise-deterministic Markov processes (PDP's). Optimality equations are obtained in terms of a set of variational inequalities as well as on the first jump time operator of the PDP. It is shown that if the final cost function is absolutely continuous along trajectories then so is the value function of the optimal stopping problem with continuous control. These results unify and generalize previous ones in the current literature.     

The sufficient conditions for continuous ɛ-optimal feedbacks in control problems with a terminal cost

The existence of continuous positional strategies of ?-optimal feedback is proved for linear optimal control problems with a convex terminal cost. These continuous feedbacks are determined from Bellman's equation in ?-perturbed control problems with an integral-terminal cost and a smooth value function. An example is given in which an ?-optimal continuous feedback does not exist. It is shown that the point limit of the ?-optimal feedbacks when ?→0 determines the optimal feedback, that is, a positional strategy and, possibly, a discontinuous strategy.     

ON THE UNCONDITIONAL ROBUST STABILITY FOR THE MULTIDELAYS INTERVAL COEFFICIENT CONTROL SYSTEM

1 IntroductionIn [4] 5 Liu Yongqing discussed the equivalence problem about the closed-loopcontrol system with delaysand the no-delay control systemin the stability theory, and obtained some sufficient criterion, where Al(i =1, 2), B, C are constants or time-varying matrices, h = hij 2 0(z, j = 1, 2,'' 9 n).Recently, the stability and the unconditional stability about the controlsystem with delays and the delay neutral type control system, has been payingattention by many authors, and got m…     

On the possibility of globally stabilizing invariant sets

In this paper we study the possibility of globally stabilizinginvariant sets of autonomous continuous nonlinear systems bythe state (output) feedback control law. We show that the topologicalstructure of invariant sets can give rise to obstruction tothe existence of a continuous control law for global stabilizationof invariant sets.     

Numerical approximation of elliptic control problems with finitely many pointwise constraints

We study the numerical approximation of elliptic control problems with finitely many pointwise state constraints and control bounds. Results for the continuous problem are collected and a complete study of the discrete problems is carried out, including, existence of solutions, optimality conditions, convergence to solutions of the continuous problem and error estimates. A numerical example is provided.     

Necessary and sufficient conditions for robust global asymptotic stabilization of discrete-time systems

We give Lyapunov-like conditions for non-uniform in time output stabilization of discrete-time systems. Particularly, it is proved that for a discrete-time control system there exists a (continuous) output stabilizing feedback if and only if there exists a (strong) output control Lyapunov function (OCLF). Moreover, strategies for the construction of continuous robust feedback stabilizers are presented.     

A MIXED CONTROL PROBLEM OF THE MANAGEMENT OF NATURAL RESOURCES

In this paper, we study the optimal solutions of a model of natural resource management which allows for both impulse and continuous harvesting policies. This type of model is known in the literature as mixed optimal control problem. In the resource management context, each type of control represents a different harvesting technology, which has a different cost. In particular, we want to know when the following conjecture made by Clark is an optimal solution to this mixed optimal control problem: if the harvesting capacity is unlimited, it is optimal to jump immediately to the steady state of the continuous time problem and then to stay there. We show that under a particular relationship between the continuous and the impulse profit function, the conjecture made by Clark is true. In other cases, however, it is either better to use only continuous control variables or to jump to resource levels which are smaller than the steady state and then let the resource grow back to the steady state. These results emphasize the importance of the cost functions in the modeling of natural resource management.     

A study on time-limited control of single-pest with stage-structure

Two kinds of time-limited pest control models of single-pest with stage-structure, which can be described by the boundary value problem of ordinary differential equation and impulsive differential equation, are presented according to the ways of artificial control (continuous control and impulsive control). The conditions under which the corresponding model has a solution are given. If the model has a solution, the corresponding aim of pest control can be achieved. The theoretical results show that both the mature and the immature pest should be controlled synchronously, otherwise the aims of pest control can not be achieved in a finite time. Finally, some discussions and numerical simulations show that the impulsive control is more practical than the continuous control.     

Discrete optimal control model and bound error for microbial continuous fermentation

A discrete optimal control model is given according to the discrete nonlinear dynamic system of continuous fermentations of glycerol to 1,3-propanediol (1,3-PD). The property of some major functions and their bounds on approximation errors are studied in this paper. Then, the conclusion that the optimality function of discrete optimal control model is the consistent approximation to one of the continuous optimal control model is proved. The results presented in this work can be used as guidelines for the optimal algorithm and its convergence.     

An explicit procedure for discretizing continuous,optimal control problems

An explicit procedure for obtaining discrete approximations to general, nonlinear, fixed-time, continuous, optimal control problems with no intermediate trajectory constraints is presented. It is proved that, if the associated system of differential equations is linear in the control variable, then the optimal solutions of these approximationsconverge to extremals of the original continuous problem.     

Uniform boundary controllability of a semi-discrete 1-D wave equation

Summary. A numerical scheme for the controlled semi-discrete 1-D wave equation is considered. We analyze the convergence of the boundary controls of the semi-discrete equations to a control of the continuous wave equation when the mesh size tends to zero. We prove that, if the high modes of the discrete initial data have been filtered out, there exists a sequence of uniformly bounded controls and any weak limit of this sequence is a control for the continuous problem. The number of the eliminated frequencies depends on the mesh size and the regularity of the continuous initial data. The case of the HUM controls is also discussed. Received March 3, 2001 / Published online October 17, 2001     

Feedback control for nonlinear evolutionary equations with applications

In the paper we are concerned with the feedback control system governed by nonlinear evolutionary equations involving weakly continuous operators. By using the Rothe method and a surjectivity result for weakly continuous operators, we first present the solvability for the evolutionary equation. Then we show the existence of solutions to the feedback control system. We also consider an existence result for an optimal control problem. Moreover, we apply the main results to a class of differential variational inequalities, evolutionary hemivariational inequalities and the non-stationary Navier–Stokes–Voigt equation with a subgradient inclusion condition.     

Constructive Solution of Inverse Parametric Linear/Quadratic Programming Problems

Parametric convex programming has received a lot of attention, since it has many applications in chemical engineering, control engineering, signal processing, etc. Further, inverse optimality plays an important role in many contexts, e.g., image processing, motion planning. This paper introduces a constructive solution of the inverse optimality problem for the class of continuous piecewise affine functions. The main idea is based on the convex lifting concept. Accordingly, an algorithm to construct convex liftings of a given convexly liftable partition will be put forward. Following this idea, an important result will be presented in this article: Any continuous piecewise affine function defined over a polytopic partition is the solution of a parametric linear/quadratic programming problem. Regarding linear optimal control, it will be shown that any continuous piecewise affine control law can be obtained via a linear optimal control problem with the control horizon at most equal to 2 prediction steps.     

Nonlinearly constrained time-delayed optimal control problems

A computational algorithm for solving a class of optimal control problems involving terminal and continuous state constraints of inequality type was developed in Ref. 1. In this paper, we extend the results of Ref. 1 to a more general class of constrained time-delayed optimal control problems, which involves terminal state equality constraints as well as terminal state inequality constraints and continuous state constraints. Two examples have been solved to illustrate the efficiency of the method.