111,265 research outputs found
Controller Synthesis for Discrete-Time Polynomial Systems via Occupation Measures
In this paper, we design nonlinear state feedback controllers for
discrete-time polynomial dynamical systems via the occupation measure approach.
We propose the discrete-time controlled Liouville equation, and use it to
formulate the controller synthesis problem as an infinite-dimensional linear
programming problem on measures, which is then relaxed as finite-dimensional
semidefinite programming problems on moments of measures and their duals on
sums-of-squares polynomials. Nonlinear controllers can be extracted from the
solutions to the relaxed problems. The advantage of the occupation measure
approach is that we solve convex problems instead of generally non-convex
problems, and the computational complexity is polynomial in the state and input
dimensions, and hence the approach is more scalable. In addition, we show that
the approach can be applied to over-approximating the backward reachable set of
discrete-time autonomous polynomial systems and the controllable set of
discrete-time polynomial systems under known state feedback control laws. We
illustrate our approach on several dynamical systems
A parabolic approach to the control of opinion spreading
We analyze the problem of controlling to consensus a nonlinear system
modeling opinion spreading. We derive explicit exponential estimates on the
cost of approximately controlling these systems to consensus, as a function of
the number of agents N and the control time-horizon T. Our strategy makes use
of known results on the controllability of spatially discretized semilinear
parabolic equations. Both systems can be linked through time-rescalin
Linearly Solvable Stochastic Control Lyapunov Functions
This paper presents a new method for synthesizing stochastic control Lyapunov
functions for a class of nonlinear stochastic control systems. The technique
relies on a transformation of the classical nonlinear Hamilton-Jacobi-Bellman
partial differential equation to a linear partial differential equation for a
class of problems with a particular constraint on the stochastic forcing. This
linear partial differential equation can then be relaxed to a linear
differential inclusion, allowing for relaxed solutions to be generated using
sum of squares programming. The resulting relaxed solutions are in fact
viscosity super/subsolutions, and by the maximum principle are pointwise upper
and lower bounds to the underlying value function, even for coarse polynomial
approximations. Furthermore, the pointwise upper bound is shown to be a
stochastic control Lyapunov function, yielding a method for generating
nonlinear controllers with pointwise bounded distance from the optimal cost
when using the optimal controller. These approximate solutions may be computed
with non-increasing error via a hierarchy of semidefinite optimization
problems. Finally, this paper develops a-priori bounds on trajectory
suboptimality when using these approximate value functions, as well as
demonstrates that these methods, and bounds, can be applied to a more general
class of nonlinear systems not obeying the constraint on stochastic forcing.
Simulated examples illustrate the methodology.Comment: Published in SIAM Journal of Control and Optimizatio
Noise Response Data Reveal Novel Controllability Gramian for Nonlinear Network Dynamics
Control of nonlinear large-scale dynamical networks, e.g., collective
behavior of agents interacting via a scale-free connection topology, is a
central problem in many scientific and engineering fields. For the linear
version of this problem, the so-called controllability Gramian has played an
important role to quantify how effectively the dynamical states are reachable
by a suitable driving input. In this paper, we first extend the notion of the
controllability Gramian to nonlinear dynamics in terms of the Gibbs
distribution. Next, we show that, when the networks are open to environmental
noise, the newly defined Gramian is equal to the covariance matrix associated
with randomly excited, but uncontrolled, dynamical state trajectories. This
fact theoretically justifies a simple Monte Carlo simulation that can extract
effectively controllable subdynamics in nonlinear complex networks. In
addition, the result provides a novel insight into the relationship between
controllability and statistical mechanics.Comment: 9 pages, 3 figures; to appear in Scientific Report
Linear Hamilton Jacobi Bellman Equations in High Dimensions
The Hamilton Jacobi Bellman Equation (HJB) provides the globally optimal
solution to large classes of control problems. Unfortunately, this generality
comes at a price, the calculation of such solutions is typically intractible
for systems with more than moderate state space size due to the curse of
dimensionality. This work combines recent results in the structure of the HJB,
and its reduction to a linear Partial Differential Equation (PDE), with methods
based on low rank tensor representations, known as a separated representations,
to address the curse of dimensionality. The result is an algorithm to solve
optimal control problems which scales linearly with the number of states in a
system, and is applicable to systems that are nonlinear with stochastic forcing
in finite-horizon, average cost, and first-exit settings. The method is
demonstrated on inverted pendulum, VTOL aircraft, and quadcopter models, with
system dimension two, six, and twelve respectively.Comment: 8 pages. Accepted to CDC 201
Fast global null controllability for a viscous Burgers' equation despite the presence of a boundary layer
In this work, we are interested in the small time global null controllability
for the viscous Burgers' equation y_t - y_xx + y y_x = u(t) on the line segment
[0,1]. The second-hand side is a scalar control playing a role similar to that
of a pressure. We set y(t,1) = 0 and restrict ourselves to using only two
controls (namely the interior one u(t) and the boundary one y(t,0)). In this
setting, we show that small time global null controllability still holds by
taking advantage of both hyperbolic and parabolic behaviors of our system. We
use the Cole-Hopf transform and Fourier series to derive precise estimates for
the creation and the dissipation of a boundary layer
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