93,043 research outputs found
Backward Linear Control Systems on Time Scales
We show how a linear control systems theory for the backward nabla
differential operator on an arbitrary time scale can be obtained via Caputo's
duality. More precisely, we consider linear control systems with outputs
defined with respect to the backward jump operator. Kalman criteria of
controllability and observability, as well as realizability conditions, are
proved.Comment: Submitted November 11, 2009; Revised March 28, 2010; Accepted April
03, 2010; for publication in the International Journal of Control
Backward Reachability Analysis of Perturbed Continuous-Time Linear Systems Using Set Propagation
Backward reachability analysis computes the set of states that reach a target
set under the competing influence of control input and disturbances. Depending
on their interplay, the backward reachable set either represents all states
that can be steered into the target set or all states that cannot avoid
entering it -- the corresponding solutions can be used for controller synthesis
and safety verification, respectively. A popular technique for backward
reachable set computation solves Hamilton-Jacobi-Isaacs equations, which scales
exponentially with the state dimension due to gridding the state space. In this
work, we instead use set propagation techniques to design backward reachability
algorithms for linear time-invariant systems. Crucially, the proposed
algorithms scale only polynomially with the state dimension. Our numerical
examples demonstrate the tightness of the obtained backward reachable sets and
show an overwhelming improvement of our proposed algorithms over
state-of-the-art methods regarding scalability, as systems with well over a
hundred states can now be analyzed.Comment: 16 page
Chaotic synchronization of coupled electron-wave systems with backward waves
The chaotic synchronization of two electron-wave media with interacting
backward waves and cubic phase nonlinearity is investigated in the paper. To
detect the chaotic synchronization regime we use a new approach, the so-called
time scale synchronization [Chaos, 14 (3) 603-610 (2004)]. This approach is
based on the consideration of the infinite set of chaotic signals' phases
introduced by means of continuous wavelet transform. The complex space-time
dynamics of the active media and mechanisms of the time scale synchronization
appearance are considered.Comment: 11 pages, 7 figures, published in CHAOS, 15 (2005) 01370
Singularly perturbed forward-backward stochastic differential equations: application to the optimal control of bilinear systems
We study linear-quadratic stochastic optimal control problems with bilinear
state dependence for which the underlying stochastic differential equation
(SDE) consists of slow and fast degrees of freedom. We show that, in the same
way in which the underlying dynamics can be well approximated by a reduced
order effective dynamics in the time scale limit (using classical
homogenziation results), the associated optimal expected cost converges in the
time scale limit to an effective optimal cost. This entails that we can well
approximate the stochastic optimal control for the whole system by the reduced
order stochastic optimal control, which is clearly easier to solve because of
lower dimensionality. The approach uses an equivalent formulation of the
Hamilton-Jacobi-Bellman (HJB) equation, in terms of forward-backward SDEs
(FBSDEs). We exploit the efficient solvability of FBSDEs via a least squares
Monte Carlo algorithm and show its applicability by a suitable numerical
example
Optimal control of multiscale systems using reduced-order models
We study optimal control of diffusions with slow and fast variables and
address a question raised by practitioners: is it possible to first eliminate
the fast variables before solving the optimal control problem and then use the
optimal control computed from the reduced-order model to control the original,
high-dimensional system? The strategy "first reduce, then optimize"--rather
than "first optimize, then reduce"--is motivated by the fact that solving
optimal control problems for high-dimensional multiscale systems is numerically
challenging and often computationally prohibitive. We state sufficient and
necessary conditions, under which the "first reduce, then control" strategy can
be employed and discuss when it should be avoided. We further give numerical
examples that illustrate the "first reduce, then optmize" approach and discuss
possible pitfalls
Backward variational approach on time scales with an action depending on the free endpoints
We establish necessary optimality conditions for variational problems with an
action depending on the free endpoints. New transversality conditions are also
obtained. The results are formulated and proved using the recent and general
theory of time scales via the backward nabla differential operator.Comment: Submitted 17-Oct-2010; revised 18-Dec-2010; accepted 4-Jan-2011; for
publication in Zeitschrift fuer Naturforschung
A General Backwards Calculus of Variations via Duality
We prove Euler-Lagrange and natural boundary necessary optimality conditions
for problems of the calculus of variations which are given by a composition of
nabla integrals on an arbitrary time scale. As an application, we get
optimality conditions for the product and the quotient of nabla variational
functionals.Comment: Submitted to Optimization Letters 03-June-2010; revised 01-July-2010;
accepted for publication 08-July-201
Variational Optimal-Control Problems with Delayed Arguments on Time Scales
This article deals with variational optimal-control problems on time scales
in the presence of delay in the state variables. The problem is considered on a
time scale unifying the discrete, the continuous and the quantum cases. Two
examples in the discrete and quantum cases are analyzed to illustrate our
results.Comment: To apear in Advances in Difference Equation
Real-Time Motion Planning of Legged Robots: A Model Predictive Control Approach
We introduce a real-time, constrained, nonlinear Model Predictive Control for
the motion planning of legged robots. The proposed approach uses a constrained
optimal control algorithm known as SLQ. We improve the efficiency of this
algorithm by introducing a multi-processing scheme for estimating value
function in its backward pass. This pass has been often calculated as a single
process. This parallel SLQ algorithm can optimize longer time horizons without
proportional increase in its computation time. Thus, our MPC algorithm can
generate optimized trajectories for the next few phases of the motion within
only a few milliseconds. This outperforms the state of the art by at least one
order of magnitude. The performance of the approach is validated on a quadruped
robot for generating dynamic gaits such as trotting.Comment: 8 page
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