Variational Integrators for Thermo-Viscoelastic Discrete Systems

Variational integrators are modern time-integration schemes based on a discretization of the underlying variational principle. In this paper, Hamilton's principle is approximated by an action sum, whose vanishing variation results in discrete Euler-Lagrange equations or, equivalently, in discrete evolution equations for the position and momentum. In order to include the viscous and thermal virtual work (mechanical and thermal virtual dissipation), Hamilton's principle is extended by D'Alembert terms, which account for the time evolution equation of the internal variable and Fourier's law. From this variational formulation, variational integrators using different orders of approximation of the state variables as well as of the quadrature of the action integral are constructed and compared. A thermo-viscoelastic double pendulum comprised of two discrete masses connected by generalized Maxwell elements, and subject to heat conduction between them serves as a discrete model problem. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Low-Infrastructure Real-Time Embedded Control via Variational Integrators

This paper presents a discrete time receding horizon control scheme that leverages the numerical properties of a variational integrator to facilitate real-time control generation on an embedded system. The variational integrator employed is well-suited to classical estimation and control algorithms, e.g. LQR, extended Kalman filters, and particle filters. The structure-preserving properties of this variational integrator lead to increased performance of estimation and control routines, especially in low-bandwidth applications. Several experimental examples are presented that illustrate the features of this receding horizon control scheme when leveraging the desirable numerical properties of the variational integrator. © 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Geometric Formulation of Higher-Order Lagrangian Systems in Supermechanics

Using supervector fields along a morphism of graded manifolds, we study both the geometry of the tangent supermanifolds of an arbitrary order and k th-order ordinary differential superequations, in order to develop the higher-order Lagrangian formalism of supermechanics. In particular, we obtain, in this formalism, a generalization of Noether's theorem and its converse.     

Optimization of Bilinear Systems Using a Higher-Order Variational Method

This paper derives some optimization results for bilinear systems using a higher-order method by characterizing them over matrix Lie groups. In the derivation of the results, first a bilinear system is transformed to a left-invariant system on matrix Lie groups. Then, the product of exponential representation is used to express this system in canonical form. Next, the conditions for optimality are obtained by the principles of variational calculus. It is demonstrated that closed-form analytical solutions exist for classes of bilinear systems whose Lie algebra are nilpotent.     

Discrete Variational Optimal Control

This paper develops numerical methods for optimal control of mechanical systems in the Lagrangian setting. It extends the theory of discrete mechanics to enable the solutions of optimal control problems through the discretization of variational principles. The key point is to solve the optimal control problem as a variational integrator of a specially constructed higher dimensional system. The developed framework applies to systems on tangent bundles, Lie groups, and underactuated and nonholonomic systems with symmetries, and can approximate either smooth or discontinuous control inputs. The resulting methods inherit the preservation properties of variational integrators and result in numerically robust and easily implementable algorithms. Several theoretical examples and a practical one, the control of an underwater vehicle, illustrate the application of the proposed approach.     

Integrators for Nonholonomic Mechanical Systems

We study a discrete analog of the Lagrange-d'Alembert principle of nonhonolomic mechanics and give conditions for it to define a map and to be reversible. In specific cases it can generate linearly implicit, semi-implicit, or implicit numerical integrators for nonholonomic systems which, in several examples, exhibit superior preservation of the dynamics. We also study discrete nonholonomic systems on Lie groups and their reduction theory, and explore the properties of the exact discrete flow of a nonholonomic system.     

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.     

Energy-Preserving Integrators Applied to Nonholonomic Systems

We introduce energy-preserving integrators for nonholonomic mechanical systems. We will see that the nonholonomic dynamics is completely determined by a triple \(({{\mathcal {D}}}^*, \varPi , \mathcal {H})\), where \({{\mathcal {D}}}^*\) is the dual of the vector bundle determined by the nonholonomic constraints, \(\varPi \) is an almost-Poisson bracket (the nonholonomic bracket) and \( \mathcal {H}: {{\mathcal {D}}}^*\rightarrow \mathbb {R}\) is a Hamiltonian function. For this triple, we can apply energy-preserving integrators, in particular, we show that discrete gradients can be used in the numerical integration of nonholonomic dynamics. By construction, we achieve preservation of the constraints and of the energy of the nonholonomic system. Moreover, to facilitate their applicability to complex systems which cannot be easily transformed into the aforementioned almost-Poisson form, we rewrite our integrators using just the initial information of the nonholonomic system. The derived procedures are tested on several examples: a chaotic quartic nonholonomic mechanical system, the Chaplygin sleigh system, the Suslov problem and a continuous gearbox driven by an asymmetric pendulum. Their performance is compared with other standard methods in nonholonomic dynamics, and their merits verified in practice.

     

Application of the Variational Method for Solving Inverse Problems of Optimal Control

For optimal control problems, a new approach based on the search for an extremum of a special functional is proposed. The differential problem is reformulated as an ill-posed variational inverse problem. Taking into account ill-posedness leads to a stable numerical minimization procedure. The method developed has a high degree of generality, since it allows one to find special controls. Several examples of interest concerning the solution of classical optimal control problems are considered.     

High Order Optimized Geometric Integrators for Linear Differential Equations

In this paper new integration algorithms based on the Magnus expansion for linear differential equations up to eighth order are obtained. These methods are optimal with respect to the number of commutators required. Starting from Magnus series, integration schemes based on the Cayley transform an the Fer factorization are also built in terms of univariate integrals. The structure of the exact solution is retained while the computational cost is reduced compared to similar methods. Their relative performance is tested on some illustrative examples.     

Feedback Integrators for Nonholonomic Mechanical Systems

The theory of feedback integrators is extended to handle mechanical systems with nonholonomic constraints with or without symmetry, so as to produce numerical integrators that preserve the nonholonomic constraints as well as other conserved quantities. To extend the feedback integrators, we develop a suitable extension theory for nonholonomic systems and also a corresponding reduction theory for systems with symmetry. It is then applied to various nonholonomic systems such as the Suslov problem on \({\text {SO}}(3)\), the knife edge, the Chaplygin sleigh, the vertical rolling disk, the roller racer, the Heisenberg system, and the nonholonomic oscillator.

     

Short-Time Existence for Some Higher-Order Geometric Flows

We establish short-time existence and regularity for higher-order flows generated by a class of polynomial natural tensors that, after an adjustment by the Lie derivative of the metric with respect to a suitable vector field, have strongly parabolic linearizations. We apply this theorem to flows by powers of the Laplacian of the Ricci tensor, and to flows generated by the ambient obstruction tensor. As a special case, we prove short-time existence for a type of Bach flow.     

Optimal Control of Elliptic Variational Inequalities

Optimality systems for optimal control problems governed by elliptic variational inequalities are derived. Existence of appropriately defined Lagrange multipliers is proved. A primal—dual active set method is proposed to solve the optimality systems numerically. Examples with and without lack of strict complementarity are included. Accepted 5 March 1999     

Higher-Order Convex Approximations of Young Measures in Optimal Control

The general theory of approximation of (possibly generalized) Young measures is presented, and concrete cases are investigated. An adjoint-operator approach, combined with quasi-interpolation of test integrands, is systematically used. Applicability is demonstrated on an optimal control problem for an elliptic system, together with one-dimensional illustrative calculations of various options.     

Higher-Order Variational Sets and Higher-Order Optimality Conditions for Proper Efficiency in Set-Valued Nonsmooth Vector Optimization

Higher-order variational sets are proposed for set-valued mappings, which are shown to be more convenient than generalized derivatives in approximating mappings at a considered point. Both higher-order necessary and sufficient conditions for local Henig-proper efficiency, local strong Henig-proper efficiency and local λ-proper efficiency in set-valued nonsmooth vector optimization are established using these sets. The technique is simple and the results help to unify first and higher-order conditions. As consequences, recent existing results are derived. Examples are provided to show some advantages of our notions and results. This work was partially supported by the National Basic Research Program in Natural Sciences of Vietnam.     

Optimal Control of Evolution Mixed Variational Inclusions

Optimal control problems of primal and dual evolution mixed variational inclusions, in reflexive Banach spaces, are studied. The solvability analysis of the mixed state systems is established via duality principles. The optimality analysis is performed in terms of perturbation conjugate duality methods, and proximation penalty-duality algorithms to mixed optimality conditions are further presented. Applications to nonlinear diffusion constrained problems as well as quasistatic elastoviscoplastic bilateral contact problems exemplify the theory.     

On the Γ-Convergence of Discrete Dynamics and Variational Integrators

Summary For a simple class of Lagrangians and variational integrators, derived by time discretization of the action functional, we establish (i) the Γ-convergence of the discrete action sum to the action functional; (ii) the relation between Γ-convergence and weak* convergence of the discrete trajectories in {itW{su1,℞}}({ofR};{ofr{sun}; and (iii) the relation between Γ-convergence and the convergence of the Fourier transform of the discrete trajectories as measured in the flat norm.     

Optimal Sliding Mode Robust Control for Fractional-Order Systems with Application to Permanent Magnet Synchronous Motor Tracking Control

This paper presents an optimal sliding mode output tracking control scheme for a class of fractional-order uncertain systems. Firstly, an augmented fractional-order system, composed of the original system and the external system, is constructed to transform the optimal output tracking issue into the design problem of linear quadratic regulator. The optimal tracking control problem for the nominal augmented fractional-order system is then studied. Secondly, the fractional-integral sliding mode controller is introduced to robustify the augmented fractional-order system, which satisfy the matching conditions. As a result, the original system output can track the external system output trajectory effectively even the uncertainties exist. Finally, the developed design techniques are applied to the tracking control of fractional-order permanent magnet synchronous motor. The simulation results demonstrate the validity of this approach.