11,349 research outputs found
Computationally Efficient Trajectory Optimization for Linear Control Systems with Input and State Constraints
This paper presents a trajectory generation method that optimizes a quadratic
cost functional with respect to linear system dynamics and to linear input and
state constraints. The method is based on continuous-time flatness-based
trajectory generation, and the outputs are parameterized using a polynomial
basis. A method to parameterize the constraints is introduced using a result on
polynomial nonpositivity. The resulting parameterized problem remains
linear-quadratic and can be solved using quadratic programming. The problem can
be further simplified to a linear programming problem by linearization around
the unconstrained optimum. The method promises to be computationally efficient
for constrained systems with a high optimization horizon. As application, a
predictive torque controller for a permanent magnet synchronous motor which is
based on real-time optimization is presented.Comment: Proceedings of the American Control Conference (ACC), pp. 1904-1909,
San Francisco, USA, June 29 - July 1, 201
A Tensor Analogy of Yuan's Theorem of the Alternative and Polynomial Optimization with Sign structure
Yuan's theorem of the alternative is an important theoretical tool in
optimization, which provides a checkable certificate for the infeasibility of a
strict inequality system involving two homogeneous quadratic functions. In this
paper, we provide a tractable extension of Yuan's theorem of the alternative to
the symmetric tensor setting. As an application, we establish that the optimal
value of a class of nonconvex polynomial optimization problems with suitable
sign structure (or more explicitly, with essentially non-positive coefficients)
can be computed by a related convex conic programming problem, and the optimal
solution of these nonconvex polynomial optimization problems can be recovered
from the corresponding solution of the convex conic programming problem.
Moreover, we obtain that this class of nonconvex polynomial optimization
problems enjoy exact sum-of-squares relaxation, and so, can be solved via a
single semidefinite programming problem.Comment: acceted by Journal of Optimization Theory and its application, UNSW
preprint, 22 page
Inverse polynomial optimization
We consider the inverse optimization problem associated with the polynomial
program f^*=\min \{f(x): x\in K\}y\in
K\tilde{f}fy\tilde{f}Kd\tilde{f}\Vert f-\tilde{f}\Vert\ell_1\ell_2\ell_\infty\tilde{f}_df(\y)f^*\ell_1\tilde{f}$ takes a
simple and explicit canonical form. Some variations are also discussed.Comment: 25 pages; to appear in Math. Oper. Res; Rapport LAAS no. 1114
Fast Mesh Refinement in Pseudospectral Optimal Control
Mesh refinement in pseudospectral (PS) optimal control is embarrassingly easy
--- simply increase the order of the Lagrange interpolating polynomial and
the mathematics of convergence automates the distribution of the grid points.
Unfortunately, as increases, the condition number of the resulting linear
algebra increases as ; hence, spectral efficiency and accuracy are lost in
practice. In this paper, we advance Birkhoff interpolation concepts over an
arbitrary grid to generate well-conditioned PS optimal control discretizations.
We show that the condition number increases only as in general, but
is independent of for the special case of one of the boundary points being
fixed. Hence, spectral accuracy and efficiency are maintained as increases.
The effectiveness of the resulting fast mesh refinement strategy is
demonstrated by using \underline{polynomials of over a thousandth order} to
solve a low-thrust, long-duration orbit transfer problem.Comment: 27 pages, 12 figures, JGCD April 201
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