Approximation design of optimal controllers for nonlinear systems with sinusoidal disturbances

This paper considers an infinite-time optimal damping control problem for a class of nonlinear systems with sinusoidal disturbances. A successive approximation approach (SAA) is applied to design feedforward and feedback optimal controllers. By using the SAA, the original optimal control problem is transformed into a sequence of nonhomogeneous linear two-point boundary value (TPBV) problems. The existence and uniqueness of the optimal control law are proved. The optimal control law is derived from a Riccati equation, matrix equations and an adjoint vector sequence, which consists of accurate linear feedforward and feedback terms and a nonlinear compensation term. And the nonlinear compensation term is the limit of the adjoint vector sequence. By using a finite term of the adjoint vector sequence, we can get an approximate optimal control law. A numerical example shows that the algorithm is effective and robust with respect to sinusoidal disturbances.     

Nontrivial solutions for asymptotically linear hamiltonian systems with Lagrangian boundary conditions

In this article, we study the existence of nontrivial solutions for a class of asymptotically linear Hamiltonian systems with Lagrangian boundary conditions by the Galerkin approximation methods and the L-index theory developed by the first author.     

Critical values of autonomous Lagrangian systems

Let M be a closed manifold and a convex superlinear Lagrangian. We consider critical values of Lagrangians as defined by R. Ma?é in [5]. Let c _u (L) denote the critical value of the lift of L to the universal covering of M and let c _a (L) denote the critical value of the lift of L to the abelian covering of M. It is easy to see that in general, . Let c ₀ (L) denote the strict critical value of L defined as the smallest critical value of where ranges among all possible closed 1-forms. We show that c _a (L) = c ₀ (L). We also show that if there exists k such that the Euler-Lagrange flow of L on the energy level k' is Anosov for all , then . Afterwards, we exhibit a Lagrangian on a compact surface of genus two which possesses Anosov energy levels with energy , thus answering in the negative a question raised by Ma?é. This example also shows that the inequality could be strict. Moreover, by a result of M.J. Dias Carneiro [4] these Anosov energy levels do not have minimizing measures. Finally, we describe a large class of Lagrangians for which c _u (L) is strictly bigger than the maximum of the energy restricted to the zero section of TM. Received: October 2, 1996     

Instability of equilibrium points of some Lagrangian systems

In this work we show that, if L is a natural Lagrangian system such that the k-jet of the potential energy ensures it does not have a minimum at the equilibrium and such that its Hessian has rank at least n−2, then there is an asymptotic trajectory to the associated equilibrium point and so the equilibrium is unstable. This applies, in particular, to analytic potentials with a saddle point and a Hessian with at most 2 null eigenvalues.The result is proven for Lagrangians in a specific form, and we show that the class of Lagrangians we are interested can be taken into this specific form by a subtle change of spatial coordinates. We also consider the extension of this results to systems subjected to gyroscopic forces.     

Path planning in formation and collision avoidance for multi-agent systems

This paper investigates, in a centralized manner, the motion planning problem for a team of unicycle-like mobile robots in a known environment. In particular, a multi-agent collision-free patrolling and formation control algorithm is presented, which combines outcomes of: (i) stability analysis of hybrid systems, (ii) algebraic geometry, and (iii) classical potential functions. The objective is achieved by designing a Lyapunov-based hybrid strategy that autonomously selects the navigation parameters. Tools borrowed from algebraic geometry are adopted to construct Lyapunov functions that guarantee the convergence to the desired formation and path, while classical potential functions are exploited to avoid collisions among agents and the fixed obstacles within the environment. The proposed navigation algorithm is tested in simulation and then validated by using the robots of a remote accessible robotic testbed.     

Non-differentiable embedding of Lagrangian systems and partial differential equations

We develop the non-differentiable embedding theory of differential operators and Lagrangian systems using a new operator on non-differentiable functions. We then construct the corresponding calculus of variations and we derive the associated non-differentiable Euler-Lagrange equation, and apply this formalism to the study of PDEs. First, we extend the characteristics method to the non-differentiable case. We prove that non-differentiable characteristics for the Navier-Stokes equation correspond to extremals of an explicit non-differentiable Lagrangian system. Second, we prove that the solutions of the Schrödinger equation are non-differentiable extremals of the Newton?s Lagrangian.     

Optimal guaranteed control of linear systems under disturbances

This paper is devoted to the problem of the minimax control of a dynamical system with quadratic performance functional under external disturbances and geometric control constraints. The optimal guaranteed control strategy is obtained in explicit form.Translated fromMatematicheskie Zametki, Vol. 60, No. 2, pp. 198–205, August, 1996.This research was supported by the Russian Foundation for Basic Research under grant No. 95-01-000771a.     

Mather theory for piecewise smooth Lagrangian systems

We establish the Mather theory for a type of piecewise smooth and positive definite Lagrangian systems.It models a mechanical system subject to external impulsive forcing.We show the existence of the minimal measure and the Lipschitz property of Aubry set.In addition,the weak KAM solution to this kind of piecewise smooth Lagrangian is also established.     

Infinite-Dimensional Hamiltonian and Lagrangian Systems with Constraints

Mathematical Notes -     

The convergence of Lax-Oleinik semigroup for time-periodic Lagrangian

In this article,the convergence of so-called Lax-Oleinik semigroup is studied for time-periodic Lagrangian systems when the degree of freedom is greater than 2.Under certain conditions,we show that the Lax-Oleinik semigroup converges if the rotation vector is completely irrational.Removing such conditions,we will give another kind of convergence of the sequence Fc((x,s),(x′,s′+Tn)),the convergence of which is closely related to the Lax-Oleinik semigroup.     

Uniquely ergodic property of minimal probability measure in positive definite Lagrangian systems

Mane conjectured that every minimal measure in the generic Lagrangian systems is uniquely ergodic. In this paper, we will show that the answer to the Mane's conjecture is negative by analyzing the structure of the supports of minimal probability measures for some kinds of the Lagrangian systems.     

Control synthesis for discrete time systems with control and state bounds in the presence of disturbances

The problem of control in the presence of unknown but limited disturbance for a discrete-time linear system with polyhedral input and state bounds is investigated. Two problems are considered: that of reaching an assigned target set in the state space; and that of keeping the state in a given region using the available controls. In both cases, a solution is given via linear programming. A computational procedure for the control synthesis is proposed which can be implemented to obtain a feedback control.The author thanks Professor G. Leitmann for his helpful suggestions.     

输入通道有干扰多变量MRAC系统的全局稳定化控制

对具有未建模动态并且输入通道存在干扰的动态不确定多输入多输出(MIMO)模型参考自适应控制(MRAC)系统,应用输出反馈给出了一种变结构模型跟踪控制器设计．系统的已建模部分有大于1的任意相对阶且已建模部分阶的上界是未知的．通过引入辅助信号和带有记忆功能的正规化信号,以及适当选择控制器参数,保证了闭环系统的全局稳定性,且跟踪误差可调整到任意小．     

Nontrivial Solutions of Superquadratic Hamiltonian systems with Lagrangian Boundary Conditions and the L-index Theory

In this paper, the authors study the existence of nontrivial solutions for the Hamiltonian systems z（t） = J△↓H（t, z（t）） with Lagrangian boundary conditions, where ^H（t,z）=1/2（^B（t）z, z） ＋ ^H（t, z）,^B（t） is a semipositive symmetric continuous matrix and ^H（t, z） = satisfies a superquadratic condition at infinity. We also obtain a result about the L-index.     

Coordination mechanisms for inventory control in three-echelon serial and distribution systems

This paper is concerned with the coordination of inventory control in three-echelon serial and distribution systems under decentralized control. All installations in these supply chains track echelon inventories. Under decentralized control the installations will decide upon base stock levels that minimize their own inventory costs. In general these levels do not coincide with the optimal base stock levels in the global optimum of the chain under centralized control. Hence, the total cost under decentralized control is larger than under centralized control. To remove this cost inefficiency, two simple coordination mechanisms are presented: one for serial systems and one for distribution systems. Both mechanisms are initiated by the most downstream installation(s). The upstream installation increases its base stock level while the downstream installation compensates the upstream one for the increase of costs and provides it with a part of its gain from coordination. It is shown that both coordination mechanisms result in the global optimum of the chain being the unique Nash equilibrium of the corresponding strategic game. Furthermore, all installations agree upon the use of these mechanisms because they result in lower costs per installation. The practical implementation of these mechanisms is discussed.     

New approach to control and filtering of mechanical systems by using the estimates of their Lagrangians

When a mechanical system is defined by its Lagrangian, some control problems can be solved by using directly the latter, instead of the dynamical equations themselves; this is based upon the property that the dynamics is continuous with respect to the Lagrangian. After stating the main lemma which supports the approach, we consider applications to active mechanical systems, that is to say, with time-varying structural parameters, to tracking control via external applied forces, and to state estimation problems for which we propose a new variational principle.This research was supported by the National Research Council of Canada.     

Existence of infinitely many homoclinic orbits to Aubry sets for positive definite Lagrangian systems

In this paper, we study the problem of homoclinic orbits to Aubry sets for time-periodic positive definite Lagrangian systems. We show that there are infinitely many homoclinic orbits to some Aubry set under the conditions that the associated Mather set is uniquely ergodic and the first relative homology group of the projection of this Aubry set is nonzero.     

Nontrivial Solutions of Superquadratic Hamiltonian Systems with Lagrangian Boundary Conditionsand the L-index Theory

In this paper, the authors study the existence of nontrivial solutions for the Hamiltonian systems z(t) = JH(t,z(t)) with Lagrangian boundary conditions, where H(t,z)=1/2((B)(t)z,z) (H)(t,z),(B)(t) is a semipositive symmetric continuous matrix and (H) satisfies a superquadratic condition at infinity. We also obtain a result about the L-index.     

Feedback stabilization for perturbed linear systems *

In this paper, we consider the questions of stabilization of perturbed (or uncertain) linear systems in Hilbert space. Perturbations of the system operator represent the uncertainty in the modelling process and could be bounded or even unbounded. Sufficient conditions are presented that guarantee stabilizability of the perturbed system given that the nominal (unperturbed) system is stabilizable. In particular it is shown that for certain class of perturbations weak and strong stabilizability properties are preserved for the same state feedback control. Two numerical examples are given to illustrate our theory.     

A Liouville Type Theorem for Special Lagrangian Equations with Constraints

We derive a Liouville type result for special Lagrangian equations with certain “convexity” and restricted linear growth assumptions on the solutions.