非线性最优控制的反馈逼近

本文将在线性最优控制中经典的Ｋｌｅｉｎｍａｎ－Ｎｅｗｔｏｎ［１］方法推广到非线性的最优控制问题。我们证明,由一个稳定反馈控制生成的反馈控制序列在原点附近会一致逼近最优控制,并指出这一研究在Ｈ∞－非线性最优控制中的作用。     

一类连续最优控制问题的有限维近似

1　引　　言本文考虑具有状态终端约束、控制受限的非线性连续最优控制问题min　h0(x(0))+∫T0f0(x(t),u(t))dt+g0(x(T))(1.1)s.t.　x(t)=f(x(t),u(t)),　　t∈[0,T](1.2)D(x(0))=0,(1.3)E(x(T))=0,(1.4)S(u(t))≤0,　　t∈[0,T](1.5)其中,h0:Rn→R,f0:Rn×Rm→R,f:Rn×Rm→Rn,g0:Rn→R,D:Rn→Rp,E:Rn→Rq,S:Rm→Rr均为二次连续可微函数.T为终端时间(固定),p,q≤n,x(t)∈W1,∞[0,T]n,u(t)∈L∞[0,T]m分别为状态函数和控制函数.U(t)={u:S(u(t))≤0}为紧凸集.问题(1.1)—(1.5)要求寻找最佳控制u(t)使得目标函数(1.1)达到极小.…     

AN EFFICIENT METHOD FOR MULTIOBJECTIVE OPTIMAL CONTROL AND OPTIMAL CONTROL SUBJECT TO INTEGRAL CONSTRAINTS

We introduce a new and efficient numerical method for multicriterion optimal control and single criterion optimal control under integral constraints. The approach is based on extending the state space to include information on a ＂budget＂ remaining to satisfy each constraint; the augmented Hamilton-Jacobi-Bellman PDE is then solved numerically. The efficiency of our approach hinges on the causality in that PDE, i.e., the monotonicity of characteristic curves in one of the newly added dimensions. A semi-Lagrangian ＂marching＂ method is used to approximate the discontinuous viscosity solution efficiently. We compare this to a recently introduced ＂weighted sum＂ based algorithm for the same problem [25]. We illustrate our method using examples from flight path planning and robotic navigation in the presence of friendly and adversarial observers.     

SOLVING A CROP PROBLEM BY AN OPTIMAL CONTROL METHOD

ABSTRACT. A system of ordinary differential equations coupled with a parabolic partial differential equation is studied in order to understand an interaction between two crops and a pathogen. Two different types of crops are planted in same field in some pattern so that the spread of pathogen can be controlled. The pathogen prefers to eat one crop. The other crop, which is not preferred by the pathogen, is introduced to control the spread of pathogen in the farming land. The “optimal” initial planting pattern is sought to maximize plant yields while minimizing the variation in the planting pattern. The optimal pattern is characterized by a variation inequality involving the solutions of the optimality system. Numerical examples are given to illustrate the results.     

一类改进的非线性种群系统的最优控制

研究某一类改进的关于年龄结构的非线性种群系统的最优控制问题.首先利用常用的极小化序列方法证明最优控制问题的最优解存在;其次定义原系统对应的共轭系统,借助于法锥定义,得到最优解所要满足的必要条件.     

OPTIMAL CONTROL OF FINANCIAL MANAGEMENT SYSTEMS WIITH DELAY

Recentlymoderncontroltheoryhasbeenwidelyusedineconomymanagementsystems.Particularlythetheoryofoptimalcontrolisusedinfinancialmanagementsystemswithgreatsuccess.Butwenoticethatfinancialmanagementsystemsaregenerallycontrolsystemswithdelay.Theoptimizationofth…     

FROM HARVESTING TO NONHARVESTING UTILITY: AN OPTIMAL CONTROL APPROACH TO SPECIES CONSERVATION

The purpose of this paper is to retrace the evolution of mathematical models focused on relation and interaction between economic growth, sustainable development, and natural environment conservation. First, generic defensive expenditures are introduced into a common‐property harvesting model in order to favor the species growth. Second, a transition model comprising both harvesting and nonharvesting values of wildlife biological species emerges. The latter gives rise to a group of purely nonharvesting models where anthropic activities and economic growth may have positive or negative impact on the natural evolution of wildlife species. Several scholars have proved that optimal strategies that are relatively good for harvesting purposes are not simply “transferrable” to the context of conservation of wildlife biological species with no harvesting value. In addition, the existence of optimal policies for long‐term conservation of all biological species (with or without harvesting value) cannot be guaranteed without having relatively large species populations at the initial time. Therefore, all such strategies are incapable of enhancing the scarce populations of endangered species and, therefore, cannot save these species from eventual (local) extinction. As an alternative, policymakers may soon be compelled to design and implement short‐term defensive actions aimed at recovery and enhancement of endangered wildlife species.     

关于人口系统妇女总和生育率的范数最优控制问题

本文讨论人口系统妇女总和生育率的范数最优控制问题。本文将妇女总和生充臃当作控制变量，在一定条件下证得最优控制的存在和唯一性，并给出其相应的优化条件。     

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.

     

A NEW FINITE ELEMENT APPROXIMATION OF A STATE-CONSTRAINED OPTIMAL CONTROL PROBLEM

In this paper, we study numerical methods for an optimal control problem with pointwise state constraints. The traditional approaches often need to deal with the deltasingularity in the dual equation, which causes many difficulties in its theoretical analysis and numerical approximation. In our new approach we reformulate the state-constrained optimal control as a constrained minimization problems only involving the state, whose optimality condition is characterized by a fourth order elliptic variational inequality. Then direct numerical algorithms （nonconforming finite element approximation） are proposed for the inequality, and error estimates of the finite element approximation are derived. Numerical experiments illustrate the effectiveness of the new approach.     

EXISTENCE OF FORECAST AND DECISION HORIZONS FOR OPTIMAL CONTROL PROBLEMS OF NONLINEAR SYSTEMS

ＥＸＩＳＴＥＮＣＥＯＦＦＯＲＥＣＡＳＴＡＮＤＤＥＣＩＳＩＯＮＨＯＲＩＺＯＮＳＦＯＲＯＰＴＩＭＡＬＣＯＮＴＲＯＬＰＲＯＢＬＥＭＳＯＦＮＯＮＬＩＮＥＡＲＳＹＳＴＥＭＳ￥ＺｈａｎｇＣｈｅｎｇｙｕｎ（张成云）（ＦｕｄａｎＵｎｉｖｅｒｓｉｔｙ，复旦大学，邮编：...     

VARIATIONAL DISCRETIZATION OF A CONTROL-CONSTRAINED PARABOLIC BANG-BANG OPTIMAL CONTROL PROBLEM

We consider a control-constrained parabolic optimal control problem without Tikhonov term in the tracking functional.For the numerical treatment,we use variational discretization of its Tikhonov regularization:For the state and the adjoint equation,we apply Petrov-Galerkin schemes in time and usual conforming finite elements in space.We prove a-priori estimates for the error between the discretized regularized problem and the limit problem.Since these estimates are not robust if the regularization parameter tends to zero,we establish robust estimates,which--depending on the problem's regularity——enhance the previous ones.In the special case of bang-bang solutions,these estimates are further improved.A numerical example confirms our analytical findings.     

基于高斯伪谱的最优控制求解及其应用

研究一种基于高斯伪谱法的具有约束受限的最优控制数值计算问题.方法将状态演化和控制规律用多项式参数化近似,微分方程用正交多项式近似.将最优控制问题求解问题转化为一组有约束的非线性规划求解.详细论述了该种近似方法的有效性.作为该种方法的应用,讨论了一个障碍物环境下的机器人最优路径生成问题.将机器人路径规划问题转化为具有约束条件最优控制问题,然后用基于高斯伪谱的方法求解,并给出了仿真结果.     

A STUDY OF THE PROFITABILITY FOR AN OPTIMAL CONTROL PROBLEM WHEN THE SIZE OF THE DOMAIN CHANGES

ABSTRACT. In this work we consider the increase in benefit for a control problem when the size of domain increases. Our control problem involves the study of the profitability of a biological growing species whose growth is confined to a bounded domain Ω? R^N and is modeled by a logistic elliptic equation with different boundary conditions (Dirichlet or Neumann). The payoff-cost functional considered, J, is of quadratic type. We prove that, under Dirichlet boundary conditions, the optimal benefit (sup J) increases when the domain ? increases. This is not true under Neumann boundary conditions.     

FINITE ELEMENT ANALYSIS OF OPTIMAL CONTROL PROBLEM GOVERNED BY STOKES EQUATIONS WITH L^2-NORM STATE-CONSTRAINTS

An optimal control problem governed by the Stokes equations with L2-norm state constraints is studied.Finite element approximation is constructed.The optimality...     

RECOVERY A POSTERIORI ERROR ESTIMATES FOR GENERAL CONVEX ELLIPTIC OPTIMAL CONTROL PROBLEMS SUBJECT TO POINTWISE CONTROL CONSTRAINTS

Superconvergence and recovery a posteriori error estimates of the finite element ap- proximation for general convex optimal control problems are investigated in this paper. We obtain the superconvergence properties of finite element solutions, and by using the superconvergence results we get recovery a posteriori error estimates which are asymptotically exact under some regularity conditions. Some numerical examples are provided to verify the theoretical results.     

RICHARDSON EXTRAPOLATION AND DEFECT CORRECTION OF FINITE ELEMENT METHODS FOR OPTIMAL CONTROL PROBLEMS

Asymptotic error expansions in H^1-norm for the bilinear finite element approximation to a class of optimal control problems are derived for rectangular meshes. With the rectan- gular meshes, the Richardson extrapolation of two different schemes and an interpolation defect correction can be applied. The higher order numerical approximations are used to generate a posteriori error estimators for the finite element approximation.     

SUPERCONVERGENCE ANALYSIS OF FINITE ELEMENT METHODS FOR OPTIMAL CONTROL PROBLEMS OF THE STATIONARY BENARD TYPE

In this paper, we consider the finite element approximation of the distributed optimal control problems of the stationary Benard type under the pointwise control constraint. The states and the co-states are approximated by polynomial functions of lowest-order mixed finite element space or piecewise linear functions and the control is approximated by piecewise constant functions. We give the superconvergence analysis for the control; it is proved that the approximation has a second-order rate of convergence. We further give the superconvergence analysis for the states and the co-states. Then we derive error estimates in L^∞-norm and optimal error estimates in L^2-norm.