Eigen series solutions to terminal-state tracking optimal control problems and exact controllability problems constrained by linear parabolic PDEs

Terminal-state tracking optimal control problems for linear parabolic equations are studied in this paper. The control objectives are to track a desired terminal state and the control is of the distributed type. Explicit solution formulae for the optimal control problems are derived in the form of eigen series. Pointwise-in-time L² norm estimates for the optimal solutions are obtained and approximate controllability results are established. Exact controllability is shown when the target state vanishes on the boundary of the spatial domain. One-dimensional computational results are presented which illustrate the terminal-state tracking properties for the solutions expressed by the series formulae.     

The use of first integrals in the problem of optimal control of a linear system with a quadratic functional

We propose a method for constructing an optimal control of a linear system in a variational problem with fixed time for the control process, fixed endpoints of the phase trajectory, and a quadratic functional. The method is based on the use of first integrals of the equations of unperturbed motion. We obtain sufficient conditions for complete controllability of the linear nonstationary system.     

A controllability minimum principle

A controllability minimum principle and two associated transversality conditions are presented, dealing with the controllability of nonlinear systems. The theorems represent necessary conditions for a control function to generate a system path which lies in the boundary of the set of points that are controllable to a target. The theorems presented here are controllability counterparts to Pontryagin's maximum principle, and undoubtedly these results will seem familiar or may have occurred to other researchers in the area of optimal control. The purpose of this paper is to make the distinction explicit and to establish the validity of these controllability theorems on their own merits. The theorems are demonstrated using a simple example and the principal result (a controllability minimum principle) is shown to be equivalent to the Kalman controllability criterion for linear systems.     

Output controllability and optimal output control of positive fractional order linear discrete system with multiple delays in state, input and output

The article concerns output controllability and optimal output control of positive fractional order discrete linear systems with multiple delays in state, input and output. Necessary and sufficient conditions for output reachability (output controllability from zero initial conditions) and null output controllability (output controllability to zero final output) are given and proven. We also prove that the positive system is output controllable if it is output reachable and null output controllable with the output reachability index is equal or less than the null output controllability index. Sufficient conditions for the solvability of the optimal output control problem are given. Numerical examples are presented to illustrate the theoretical results.     

Control of interconnected nonlinear delay differential equations inW 2 (1)

Our main interest in this paper is the resolution of the problem of controllability of interconnected nonlinear delay systems in function space, from which hopefully the existence of an optimal control law can be deduced later. We insist that each subsystem be controlled by its own variables while taking into account the interacting effects. This is the recent basic insight of [13] on ordinary differential systems. Controllability is deduced for the composite system from the assumption of controllability of each free subsystem and a growth condition of the interconnecting structure. Conditions for a free system’s controllability are given. One application is presented. The insight it provides for the growth of global economy has important policy implications.     

Optimal Control and Controllability of a Phase Field System with One Control Force

We investigate the relation between optimal control and controllability for a phase field system modeling the solidification process of pure materials in the case that only one control force is used. Such system is constituted of one energy balance equation, with a localized control associated to the density of heat sources and sinks to be determined, coupled with a phase field equation with the classical nonlinearity derived from the two-well potential. We prove that this system has a local controllability property and we establish that a sequence of solutions of certain optimal control problems converges to a solution of such controllability problem.     

Controllability cost of conservative systems: resolvent condition and transmutation

This article concerns the exact controllability of unitary groups on Hilbert spaces with unbounded control operator. It provides a necessary and sufficient condition not involving time which blends a resolvent estimate and an observability inequality. By the transmutation of controls in some time L for the corresponding second-order conservative system, it is proved that the cost of controls in time T for the unitary group grows at most like exp(αL²/T) as T tends to 0. In the application to the cost of fast controls for the Schrödinger equation, L is the length of the longest ray of geometric optics which does not intersect the control region. This article also provides observability resolvent estimates implying fast smoothing effect controllability at low cost, and underscores that the controllability cost of a system is not changed by taking its tensor product with a conservative system.     

H2 optimal model order reduction of the discrete system on the product manifold

This paper studies the H₂ optimal model order reduction of the discrete system based on the cross Gramian, which equips both the controllability and observability information. The cross Gramian is first employed to obtain the H₂ norm of the discrete systems. Then, the constrained conditions of the H₂ optimal model order reduction problem of the discrete systems are relaxed, and a new H₂ optimal model order reduction problem on the product manifold is reformulated. Finally, geometry of the resultant optimization problem is investigated and an iterative algorithm is presented. The efficiency of the proposed algorithm is demonstrated by a practical example.     

A numerical study of the null boundary controllability of a convection diffusion equation

In this paper we study numerically the cost of the null controllability of a linear control parabolic 1-D equation as the diffusion coefficient tends to 0. For this linear control parabolic 1-D equation, we know from a prior work by J.-M. Coron and S. Guerrero (2005), that, when the diffusion coefficient tends to 0, for a small controllability time, the norm of the optimal control tends to infinity and that, if the controllability time is large enough, this norm tends to 0. For controllability times which are not covered by this work, we estimate numerically the norm of the optimal control as the diffusion coefficient tends to 0. To cite this article: A. Salem, C. R. Acad. Sci. Paris, Ser. I 347 (2009).     

Energy decay and control for a system of strings elastically connected in parallel

In the present paper, we study energy decay and exact boundary controllability for a system of n one-dimensional linear wave equations coupled in parallel. The control obtained is a square integrable of the Neuman type for initial data with finite energy. The controllability time is near optimal value. We treat the case of control in the whole boundary and also in part of it.     

Optimal Actuator Placement for Dynamical Systems

Vibrations occur in many industrial areas and produce undesirable side effects. To avoid respectively suppress these effects actuators can be attached to the structure. Actuators can transfer forces into the structure, which can be used to control the system behavior of the structure in order to achieve, for example, vibration absorption, noise reduction and/or exact positioning. The appropriate positioning of actuators is of significant importance for the controllability of the structure. We present a method for determining the optimal actuator placement. We consider applications, where the dynamics of a system can be described by a finite dimensional, controllable and observable state-space model. The concept of controllability by Kálmán forms the basis for the definition of controllability measures. In this context, the controllability gramian plays an important role. In our approach actuators are placed in such a way that the selected controllability measure becomes maximal. This leads to an optimization problem with binary and continuous variables and linear matrix inequalities. The numerical results show the optimal actuator placement for a two dimensional flexible clamped plate. (© 2013 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Optimal power-limited rendezvous of a spacecraft with bounded thrust and general linear equations of motion

The solution of the fixed-time optimal power-limited rendezvous with a general linear system of ordinary differential equations and a bound on the magnitude of the applied thrust is presented. Necessary and sufficient conditions for thrust saturation in an optimal solution are included.Because of the generality of the linear system of equations of motion, controllability considerations are required for a complete solution of this problem. It is shown that the condition of controllability can be defined completely in terms of a class of primer vectors associated with this problem. Moreover, it is shown that two distinct versions of the primer vector appear in this problem. Therefore, there is not a unique primer vector associated with every rendezvous problem.The work is applied to the problem of the rendezvous of a spacecraft near a satellite in circular orbit. The optimal rendezvous trajectory is determined by the interaction of a primer vector and the bound on the thrust magnitude. The results of computer simulations are presented graphically.     

线性脉冲控制系统的能控性与最优控制

首先讨论了一类线性随机脉冲控制系统的精确能控性质,给出了该类控制系统的脉冲精确能控的等价的代数判据.然后提出了一个确定性的二维线性脉冲控制系统的时间-脉冲强度最优控制问题;利用动态规划原理,给出了脉冲最优控制的反馈形式和值函数的显式表达式;说明了值函数在整个平面上是连续的,在左右两个半平面的内部还是连续可微的.     

Approximate controllability of impulsive fractional evolution equations of order 1<α<2$$ 1&amp;lt;\alpha &amp;lt;2 $$ with state-dependent delay in Banach spaces

This article deals with the approximate controllability problem for fractional evolution equations involving noninstantaneous impulses and state-dependent delay. In order to derive sufficient conditions for the approximate controllability of our problem, we first consider the linear-regulator problem and find the optimal control in the feedback form. By using this optimal control, we develop the approximate controllability of the linear fractional control system. Further, we obtain sufficient conditions for the approximate controllability of the nonlinear problem. In the end, we provide a concrete example to support the applicability of the derived results.     

Controllability,extremality, and abnormality in nonsmooth optimal control

We derive sufficient conditions for controllability and necessary conditions for minimum in nonsmooth optimal control problems defined by differential or functional-integral equations with isoperimetric and unilateral restrictions. We consider the cases when the controls are relaxed or chosen fromabundant sets of original (ordinary) controls (which include most, or all, of the control sets studied in the literature). We prove that, if there exist optimal strictly original controls (that is, controls that are optimal in an abundant set but not among relaxed controls), then the problem admits abnormal extremals. We also study the abnormality of the optimal strictly original controls themselves.     

Asymptotic Behavior of the Value Functions of Discrete-Time Discounted Optimal Control

We study deterministic discounted optimal control problems associated with discrete-time systems. It is shown that, for small discount rates, the controllability properties of the underlying system can guarantee the convergence of the discounted value function to the value function of the average yield. An application in the theory of exponential growth rates of discrete inclusions is presented. This application motivates the analysis of infinite-horizon optimal control problems with running yields that are unbounded from below.     

Robust optimal control of stochastic hyperelastic materials

Soft robots are highly nonlinear systems made of deformable materials such as elastomers, fluids and other soft matter, that often exhibit intrinsic uncertainty in their elastic responses under large strains due to microstructural inhomogeneity. These sources of uncertainty might cause a change in the dynamics of the system leading to a significant degree of complexity in its controllability. This issue poses theoretical and numerical challenges in the emerging field of optimal control of stochastic hyperelasticity. This paper states and solves the robust averaged control in stochastic hyperelasticity where the underlying state system corresponds to the minimization of a stochastic polyconvex strain energy function. Two bio-inspired optimal control problems under material uncertainty are addressed. The expected value of the L²-norm to a given target configuration is minimized to reduce the sensitivity of the spatial configuration to variations in the material parameters. The existence of optimal solutions for the robust averaged control problem is proved. Then the problem is solved numerically by using a gradient-based method. Two numerical experiments illustrate both the performance of the proposed method to ensure the robustness of the system and the significant differences that may occur when uncertainty is incorporated in this type of control problems.     

Optimal actuators placements for the active control of flexible structures

A scheme for the optimal spatial placement of a limited number of sensors and actuators under a minimum energy requirement for the active control of flexible structures is proposed. The method is based on the interpretation of the functional relationship (transfer matrix/conrol influence matrix) between the actuators and modes of the structural system. It is shown that, from the form of the matrix, the controllability and observability of the system with respect to differing locations of the sensors and actuators can be established. The algorithm presented circumvents prevailing problems encountered in contemporary optimal control applications. In particular, and in order to enhance the results presented in this paper, numerical simulation for a prismatic beam subjected to horizontal random wind loads and a simply supported square plate modelled as a single degree of freedom system are given to illustrate the placement strategy.     

Control of the motion of a helical body in a fluid using rotors

This paper is concerned with the motion of a helical body in an ideal fluid, which is controlled by rotating three internal rotors. It is proved that the motion of the body is always controllable by means of three rotors with noncoplanar axes of rotation. A condition whose satisfaction prevents controllability by means of two rotors is found. Control actions that allow the implementation of unbounded motion in an arbitrary direction are constructed. Conditions under which the motion of the body along an arbitrary smooth curve can be implemented by rotating the rotors are presented. For the optimal control problem, equations of sub-Riemannian geodesics on SE(3) are obtained.     

Feasible command strategies for the control of motion of a simple mobile robot

The concept of feasible command strategies is introduced and its applicability is demonstrated by solving a guidance and control problem. This problem concerns the motion of a system which is composed of a rolling disk and a controlled slender rod that is pivoted, through its endpoint, about the disk center. The motion of the disk-rod system is subjected to state and control constraints, and it serves as a model for the motion of a simple mobile robot. In addition, the concept of path controllability is introduced and a condition is derived for the system motion path controllability. The derivation of this condition enables one to design closed-loop control laws for the system motion.