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     

SQP-methods for solving optimal control problems with control and state constraints: adjoint variables, sensitivity analysis and real-time control

Parametric nonlinear optimal control problems subject to control and state constraints are studied. Two discretization methods are discussed that transcribe optimal control problems into nonlinear programming problems for which SQP-methods provide efficient solution methods. It is shown that SQP-methods can be used also for a check of second-order sufficient conditions and for a postoptimal calculation of adjoint variables. In addition, SQP-methods lead to a robust computation of sensitivity differentials of optimal solutions with respect to perturbation parameters. Numerical sensitivity analysis is the basis for real-time control approximations of perturbed solutions which are obtained by evaluating a first-order Taylor expansion with respect to the parameter. The proposed numerical methods are illustrated by the optimal control of a low-thrust satellite transfer to geosynchronous orbit and a complex control problem from aquanautics. The examples illustrate the robustness, accuracy and efficiency of the proposed numerical algorithms.     

Second order sufficient conditions and sensitivity analysis for the optimal control of a container crane under state constraints

Stability and sensitivity analysis of parametric control problems has recently been elaborated for optimal control problems subject to pure state constraints. This paper illustrates the numerical aspects of sensitivity analysis for a complex practical example: the optimal control of a container crane with a state constraint on the vertical velocity. The multiple shooting method is used to determine a nominal solution satisfying first order necessary conditions. Second order sufficient conditions are checked by showing that an associated Riccati equation has a bounded solution. Sensitivity differentials of optimal solutions an computed with respect to variations in the swing angle     

Asymptotic properties of solutions of parametric optimal control problems with varying index of the singular arcs

We consider a family of parametric linear-quadratic optimal control problems with terminal and control constraints. This family has the specific feature that the class of optimal controls is changed for an arbitrarily small change in the parameter. In the perturbed problem, the behavior of the corresponding trajectory on noncritical arcs of the optimal control is described by solutions of singularly perturbed boundary value problems. For the solutions of these boundary value problems, we obtain an asymptotic expansion in powers of the small parameter ?. The asymptotic formula starts from a term of the order of 1/? and contains boundary layers. This formula is used to justify the asymptotic expansion of the optimal control for a perturbed problem in the family. We suggest a simple method for constructing approximate solutions of the perturbed optimal control problems without integrating singularly perturbed systems. The results of a numerical experiment are presented.     

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.     

对一类非线性扰动方程的分析

本文研究了一类非线性扰动方程，确定自治扰动方程双曲不动点的稳定和不稳定流形的相对位置，给出了存在唯一极限环的参数范围，并应用于电机工程和力学中一类非线性系统。     

BOULIGAND DIFFERENTIABILITY OF SOLUTIONS TO PARAMETRIC OPTIMAL CONTROL PROBLEMS*

A family of parameter dependent optimal control problems for nonlinear ODEs is considered. The problems are subject to pointwise control constraints. It is shown that the standard conditions, used in stability analysis of optimal control problems, ensure not only Lipschitz continuity, but also Bouligand differentiability of the solutions with respect to the parameter. The Bouligand differentials are characterized as the solutions to the accessory linear-quadratic optimal control problems.

     

一类死区非线性输入系统的自适应模糊控制

针对一类具有死区非线性输入的非线性系统,基于滑模控制的基本原理,利用II型模糊逻辑系统对未知函数进行在线逼近,提出了一种具有监督器的自适应模糊滑模控制方法。该方法通过监督控制器保证闭环系统所有信号有界,并通过引入最优逼近误差的自适应补偿项来消除建模误差的影响。通过理论分析,证明了跟踪误差收敛到零。     

Parametric identification problem with a regularizer in the form of the total variation of the control

We consider a linear dynamical system, for which we need to reconstruct the control input on the basis of a noisy output. We form the corresponding family of parametric optimal control problems in which the performance criterion contains terms corresponding to the problem regularization and clearing the output signal from speckle noises. The weight coefficient multiplying the term used for noise filtration plays the role of a parameter in the family of problems. We prove a theorem that describes the properties of solutions of parametric problems in a neighborhood of a regular point, analyze the differential properties of solutions of that problem, and derive formulas for the computation of derivatives of the optimal trajectory and the optimal control with respect to a parameter. We suggest a simple method for constructing approximate solutions of perturbed optimal control problems. These results permit one to control the performance of the reconstruction of the control in the original identification problem. An illustrative example is considered.     

Solution differentiability for variational inequalities

In this paper we study solution differentiability properties for variational inequalities. We characterize Fréchet differentiability of perturbed solutions to parametric variational inequality problems defined on polyhedral sets. Our result extends the recent result of Pang and it directly specializes to nonlinear complementarity problems, variational inequality problems defined on perturbed sets and to nonlinear programming problems.     

一类非线性方程奇摄动问题的激波解

利用匹配条件，讨论了一类非线性奇摄动问题的激波解，得出了激波解与边界条件的对应关系。     

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.     

Oscillation and asymptotic behavior for second-order nonlinear perturbed differential equations

In this paper, for all regular solutions of a class of second-order nonlinear perturbed differential equations, new oscillation criteria are established. Asymptotic behavior for forced equations is also discussed.     

Approximate Optimal Solutions and Nonlinear Lagrangian Functions*

There is an increasing interest in the study of optimality conditions of approximate solutions for nonlinear optimization problems. In this paper, relationships between approximate optimal values and approximate roots of a nonlinear function are explored via a nonlinear Lagrangian function. Almost approximate optimal solutions are investigated by means of nonlinear Lagrangian functions.     

Necessary optimality conditions and regularity results for state and adjoint state of nonlinear control problems

For optimal control problems of nonlinear evolution equations of first order we derive regularity properties for the corresponding adjoint states where the proof is based on the necessary optimal conditions and smoothness properites of the optimal states. These results are used for the characterization of the optimal solution and the corresponding adjoint state of the periodic three-dimensionel NAVIER-STOKES system.     

Infinite Dimensional Parametric Optimal Control Problems

In this paper we study parametric optimal control problems monitored by nonlinear evolution equations. The parameter appears in all the data, including the nonlinear operator. First we show that for every value of the parameter, the optimal control problem has a solution. Then we study how these solutions as well as the value of the problem respond to changes in the parameter. Finally, we work out in detail two examples of nonlinear parabolic optimal control systems.     

Weak and strong solutions of a nonlinear subsonic flow-structure interaction: Semigroup approach

We consider a non-rotational, subsonic flow-structure interaction describing the flow of gas above a flexible plate. A perturbed wave equation describes the flow, and a second-order nonlinear plate equation describes the plate’s displacement. It is shown that the linearization of the model generates a strongly continuous semigroup with respect to the topology generated by “finite energy” considerations. An interesting feature of the problem is that linear perturbed flow-structure interaction is not monotone with respect to the standard norm describing the finite energy space. The main tool used in overcoming this difficulty is the construction of a suitable inner product on the finite energy space which allows the application of ω-maximal monotone operator theory. The obtained result allows us to employ suitable perturbation theory in order to discuss well-posedness of weak and strong solutions corresponding to several classes of nonlinear dynamics including the full flow-structure interaction with von Karman, Berger’s and other semilinear plate equations.     

Optimality conditions for state constrained nonlinear control problems

The problem of optimal control of nonlinear control and state constrained control problems, where the state constraint may involve differential operators and the cost functionals may be nonsmooth, is studied. For this class of problems, necessary optimality conditions using techniques from infinite dimensional optimization theory adapted to the framework of control problems are derived. It is shown that the underlying structure admits a considerable relaxation of the classical constraint qualifications. The theory then is applied to examples of various nonlinear elliptic equations and state constraints.     

非线性时滞系统的直接自适应模糊控制

针对一类具有摄动的严格反馈非线性时滞系统,基于后推设计方法,利用第一类模糊系统的逼近能力,提出了一种新的直接自适应控制方案。该方案避免了虚拟控制增益符号已知的假设。设计中引入连续鲁棒项对系统的摄动部分进行抑制。通过理论分析,证明了闭环系统是半全局一致终结有界的,跟踪误差收敛到一个小的残差集内。