THE RELATIONSHIP BETWEEN THE STABILITY AND THE OPTIMALITY OF LINEAR SYSTEMS(Ⅱ)

Different from the inverse problem put forward by R.E.Kalman, another kind ofinverse problem of linear optimal control is proposed and discussed in[1] as follows:Givenan asymptotically stable linear constant system and a nonnegative quadratic performanceindex, when can a state-feedback be separated from the stable system so that this state-feedback control law is optimal for the given index? In this paper this problem is extended.Similar conclusions are obtained for linear discrete systems and linear time-variablesystems. According to these conclusions we can say that the correspondence between theasymptotically stable system and the optimal feedback system is the inherent character ofall kinds of linear systems.     

STOCHASTIC OPTIMAL CONTROL OF STRONGLY NONLINEAR SYSTEMS UNDER WIDE-BAND RANDOM EXCITATION WITH ACTUATOR SATURATION

A bounded optimal control strategy for strongly non-linear systems under non-white wide-band random excitation with actuator saturation is proposed. First, the stochastic averaging method is introduced for controlled strongly non-linear systems under wide-band random excitation using generalized harmonic functions. Then, the dynamical programming equation for the saturated control problem is formulated from the partially averaged Itō equation based on the dynamical programming principle. The optimal control consisting of the unbounded optimal control and the bounded bang-bang control is determined by solving the dynamical programming equation. Finally, the response of the optimally controlled system is predicted by solving the reduced Fokker-Planck-Kolmogorov （FPK） equation associated with the completed averaged Itō equation. An example is given to illustrate the proposed control strategy. Numerical results show that the proposed control strategy has high control effectiveness and efficiency and the chattering is reduced significantly comparing with the bang-bang control strategy.     

The existence problem of optimal control for nonlinear processes

The existence problem of optimal control systemsdescribed by z=f(t,x.u)is discussed in this paper,where f(f,x,u)is a more general function and theclass of admissible control functions are generalenough to contain those control functions which arefrequently used in engineering.The problem for anoptimal control approximated by a sequence of controlfunctions being part of certain function classes isconsidered here,an example in contradiction with theconclusion of ref.[1]about this problem is given,and a correct conclusion is presented.     

STOCHASTIC OPTIMAL CONTROL FOR THE RESPONSE OF QUASI NON-INTEGRABLE HAMILTONIAN SYSTEMS~

A strategy is proposed based on the stochastic averaging method for quasi nonintegrable Hamiltonian systems and the stochastic dynamical programming principle. The proposed strategy can be used to design nonlinear stochastic optimal control to minimize the response of quasi non-integrable Hamiltonian systems subject to Gaussian white noise excitation. By using the stochastic averaging method for quasi non-integrable Hamiltonian systems the equations of motion of a controlled quasi non-integrable Hamiltonian system is reduced to a one-dimensional averaged Ito stochastic differential equation. By using the stochastic dynamical programming principle the dynamical programming equation for minimizing the response of the system is formulated.The optimal control law is derived from the dynamical programming equation and the bounded control constraints. The response of optimally controlled systems is predicted through solving the FPK equation associated with It5 stochastic differential equation. An example is worked out in detail to illustrate the application of the control strategy proposed.     

THE BLOOD FLOW AND THE MOTION OF VESSEL WALL

The correlation problem between the blood fiow and the motion of vessel wall in the mammalian circulatory system is discussed in this paper. Supposing the blood flow is under the stable oscillatory condition, a set of formulas for velocity distribution, pressure distribution, displacement of vessel wall and constraining stress are obtained. Kuchar's formulas are extended from steady flow to unsteady oscillatory flow by means of the formulas obtained in this paper. The problem of elasticity effect of vessel wall is also discussed.     

THE SCHRDINGER EQUATION OF THIN SHELL THEORIES

This work is the continuation of the discussions of[50]and[51].In this paper:(A)The Love-Kirchhoff equation of small deflection problem for elastic thin shellwith constant curvature are classified as the same several solutions of Schr(?)dingerequation,and we show clearly that its form in axisymmetric problem;(B)For example for the small deflection problem,we extract the general solution ofthe vibration problem of thin spherical shell with equal thickness by the force in centralsurface and axisymmetric external field,that this is distinct from ref.[50]in variable.Today the variable is a space-place,and is not time;(C)The von Kármán-Vlasov equation of large deflection problem for shallow shellare classified as the solutions of AKNS equations and in it the one-dimensional problem isclassified as the solution of simple Schr(?)dinger equation for eigenvalues problem,and wetransform the large deflection of shallow shell from nonlinear problem into soluble linearproblem.     

FEEDBACK CONTROL OPTIMIZATION FOR SEISMICALLY EXCITED BUILDINGS

A feedback control optimization method of partially observable linear structures via stationary response is proposed and analyzed with linear building structures equipped with control devices and sensors. First, the partially observable control problem of the structure under horizontal ground acceleration excitation is converted into a completely observable control problem. Then the It6 stochastic differential equations of the system are derived based on the stochastic averaging method for quasi-integrable Hamiltonian systems and the stationary solution to the Fokker-Plank-Kolmogorov （FPK） equation associated with the It6 equations is obtained. The performance index in terms of the mean system energy and mean square control force is established and the optimal control force is obtained by minimizing the performance index. Finally, the numerical results for a three-story building structure model under E1 Centro, Hachinohe, Northridge and Kobe earthquake excitations are given to illustrate the application and the effectiveness of the proposed method.     

STOCHASTIC OPTIMAL CONTROL OF HYSTERETIC SYSTEMS UNDER EXTERNALLY AND PARAMETRICALLY RANDOM EXCITATIONS

A stochastic optimal control method for nonlinear hysteretic systems under exter-nally and/or parametrically random excitations is presented and illustrated with an example ofhysteretic column system.A hysteretic system subject to random excitation is first replaced bya nonlinear non-hysteretic stochastic system.An It stochastic differential equation for the to-tal energy of the system as a one-dimensional controlled diffusion process is derived by usingthe stochastic averaging method of energy envelope.A dynamical programming equation is thenestablished based on the stochastic dynamical programming principle and solved to yield the op-timal control force.Finally,the responses of uncontrolled and controlled systems are evaluatedto determine the control efficacy.It is shown by numerical results that the proposed stochasticoptimal control method is more effective and efficient than other optimal control methods.     

Stability of stationary state solution for a reaction density-dependent diffusion equation

In this paper we are interested in the large time behavior of the nonlinear diffusionequationu_1=(φ(u))_xx φ(u), x∈R,t∈R~ =(0, ∞))We consider functionsφ(u)andφ(u)which allow the equation to possess travelingwave solutions.We first present an existence and uniqueness as well as some comparisonprinciple result of generalized solutions to the Cauchy problem.Then we give forφ(u)=u(1-u)(u-a)some threshold results,from which we can see that u=a is stable,while u=0 or u=1 is unstable under some assumptions,etc.     

Optimal reorientation of underactuated spacecraft using genetic algorithm with wavelet approximation

The optimal attitude control of an underactuated spacecraft is investigated in this paper. The flywheels of the spacecraft can somehow only provide control inputs in two independent directions. The dynamic equations are formulated for the spacecraft under a nonholonomic constraint resulting from the constant time-rate of the total angular momentum of the system. The reorientation of such underactuated spacecraft is transformed into an optimal control problem. A genetic algorithm is proposed to derive the control laws of the two flywheels angle velocity inputs. The control laws are approximated by the discrete orthogonal wavelets. The numerical simulations indicate that the genetic algorithm with the wavelet approximation is an effective approach to deal with the optimal reorientation of underactuated spacecraft.     

Stochastic optimal control of cable vibration in plane by using axial support motion

A stochastic optimal control strategy for a slightly sagged cable using support motion in the cable axial direction is proposed.The nonlinear equation of cable motion in plane is derived and reduced to the equations for the first two modes of cable vibration by using the Galerkin method.The partially averaged Ito equation for controlled system energy is further derived by applying the stochastic averaging method for quasi-non-integrable Hamiltonian systems.The dynamical programming equation for the controlled system energy with a performance index is established by applying the stochastic dynamical programming principle and a stochastic optimal control law is obtained through solving the dynamical programming equation.A bilinear controller by using the direct method of Lyapunov is introduced.The comparison between the two controllers shows that the proposed stochastic optimal control strategy is superior to the bilinear control strategy in terms of higher control effectiveness and efficiency.     

Optimal dynamical balance harvesting for a class of renewable resources system

An optimal utilization problem for a class of renewable resources system is investigated. Firstly, a control problem was proposed by introducing a new. utility function which depends on the harvesting effort and the stock of resources. Secondly, the existence ofoptimal solution for the problem was discussed. Then, using a maximum principle for infinite horizon problem, a nonlinear four-dimensional differential equations system was attained. After a detailed analysis of the unique positive equilibrium solution, the existence of limit cycles for the system is demonstrated. Next a reduced system on the central manifold is carefully derived, which assures the stability of limit cycles. Finally significance of the results in bioeconomics is explained.     

STOCHASTIC OPTIMAL VIBRATION CONTROL OF PARTIALLY OBSERVABLE NONLINEAR QUASI HAMILTONIAN SYSTEMS WITH ACTUATOR SATURATION

An optimal vibration control strategy for partially observable nonlinear quasi Hamiltonian systems with actuator saturation is proposed. First,a controlled partially observable non-linear system is converted into a completely observable linear control system of finite dimension based on the theorem due to Charalambous and Elliott. Then the partially averaged It stochastic differential equations and dynamical programming equation associated with the completely observable linear system are derived by using the stochastic averaging method and stochastic dynamical programming principle,respectively. The optimal control law is obtained from solving the final dynamical programming equation. The results show that the proposed control strategy has high control effectiveness and control effciency.     

Optimal obstacle control problem

In the paper we discuss some properties of the state operators of the optimal obstacle control problem for elliptic variational inequality.Existence,uniqueness and regularity of the optimal control,problem are established.In addition,the approximation of the optimal obstacle problem is also studied.     

Symplectic multi-level method for solving nonlinear optimal control problem

By converting an optimal control problem for nonlinear systems to a Hamiltonian system,a symplecitc-preserving method is proposed.The state and costate variables are approximated by the Lagrange polynomial.The state variables at two ends of the time interval are taken as independent variables.Based on the dual variable principle,nonlinear optimal control problems are replaced with nonlinear equations.Furthermore,in the implementation of the symplectic algorithm,based on the 2N algorithm,a multilevel method is proposed.When the time grid is refined from low level to high level,the initial state and costate variables of the nonlinear equations can be obtained from the Lagrange interpolation at the low level grid to improve efficiency.Numerical simulations show the precision and the efficiency of the proposed algorithm in this paper.     

Parametric variational solution of linear-quadratic optimal control problems with control inequality constraints

A parametric variational principle and the corresponding numerical algo- rithm are proposed to solve a linear-quadratic （LQ） optimal control problem with control inequality constraints. Based on the parametric variational principle, this control prob- lem is transformed into a set of Hamiltonian canonical equations coupled with the linear complementarity equations, which are solved by a linear complementarity solver in the discrete-time domain. The costate variable information is also evaluated by the proposed method. The parametric variational algorithm proposed in this paper is suitable for both time-invariant and time-varying systems. Two numerical examples are used to test the validity of the proposed method. The proposed algorithm is used to astrodynamics to solve a practical optimal control problem for rendezvousing spacecrafts with a finite low thrust. The numerical simulations show that the parametric variational algorithm is ef- fective for LQ optimal control problems with control inequality constraints.     

Risk-sensitive reinforcement learning algorithms with generalized average criterion

A new algorithm is proposed, which immolates the optimality of control policies potentially to obtain the robusticity of solutions. The robusticity of solutions maybe becomes a very important property for a learning system when there exists non-matching between theory models and practical physical system, or the practical system is not static, or the availability of a control action changes along with the variety of time. The main contribution is that a set of approximation algorithms and their convergence results are given. A generalized average operator instead of the general optimal operator max (or min) is applied to study a class of important learning algorithms, dynamic programming algorithms, and discuss their convergences from theoretic point of view. The purpose for this research is to improve the robusticity of reinforcement learning algorithms theoretically.     

Optimal placement of piezoelectric active bars in vibration control by topological optimization

A continuous variable optimization method and a topological optimization method are proposed for the vibration control of piezoelectric truss structures by means of the optimal placements of active bars. In this optimization model, a zero-one discrete variable is defined in order to solve the optimal placement of piezoelectric active bars. At the same time, the feedback gains are also optimized as continuous design variables. A two-phase procedure is proposed to solve the optimization problem. The sequential linear programming algorithm is used to solve optimization problem and the sensitivity analysis is carried out for objective and constraint functions to make linear approximations. On the basis of the Newmark time integration of structural transient dynamic responses, a new sensitivity analysis method is developed in this paper for the vibration control problem of piezoelectric truss structures with respect to various kinds of design variables. Numerical examples are given in the paper to demonstrate the effectiveness of the methods.     

EXACT LINEARIZATION BASED MULTIPLE-SUBSPACE ITERATIVE RESOLUTION TO AFFINE NONLINEAR CONTROL SYSTEM

To the optimal control problem of affine nonlinear system, based on differential geometry theory, feedback precise linearization was used. Then starting from the simulative relationship between computational structural mechanics and optimal control, multiple-substructure method was inducted to solve the optimal control problem which was linearized. And finally the solution to the original nonlinear system was found. Compared with the classical linearizational method of Taylor expansion, this one diminishes the abuse of error expansion with the enlargement of used region.     

Impulsive control of chaotic attractors in nonlinear chaotic systems

Based on the study from both domestic and abroad, an impulsive control scheme on chaotic attractors in one kind of chaotic system is presented. By applying impulsive control theory of the universal equation, the asymptotically stable condition of impulsive control on chaotic attractors in such kind of nonlinear chaotic system has been deduced, andwith it, the upper bond of the impulse interval for asymptotically stable control was given.Numerical results are presented, which are considered with important reference value for control of chaotic attractors.