11,519 research outputs found
Error estimates for the discretization of the velocity tracking problem
In this paper we are continuing our work (Casas and Chrysafinos, SIAM J Numer Anal 50(5):2281–2306, 2012), concerning a priori error estimates for the velocity tracking of two-dimensional evolutionary Navier–Stokes flows. The controls are of distributed type, and subject to point-wise control constraints. The discretization scheme of the state and adjoint equations is based on a discontinuous time-stepping scheme (in time) combined with conforming finite elements (in space) for the velocity and pressure. Provided that the time and space discretization parameters, t and h respectively, satisfy t = Ch2, error estimates of order O(h2) and O(h 3/2 – 2/p ) with p > 3 depending on the regularity of the target and the initial velocity, are proved for the difference between the locally optimal controls and their discrete approximations, when the controls are discretized by the variational discretization approach and by using piecewise-linear functions in space respectively. Both results are based on new duality arguments for the evolutionary Navier–Stokes equations
A discontinuous Galerkin time-stepping scheme for the velocity tracking problem
The velocity tracking problem for the evolutionary Navier–Stokes equations in two dimensions is studied. The controls are of distributed type and are submitted to bound constraints. First and second order necessary and sufficient conditions are proved. A fully discrete scheme based on the discontinuous (in time) Galerkin approach, combined with conforming finite element subspaces in space, is proposed and analyzed. Provided that the time and space discretization parameters, τ and h, respectively, satisfy τ ≤ Ch2 , then L 2 error estimates of order O(h) are proved for the difference between the locally optimal controls and their discrete approximations.This author’s work was partially supported by the Spanish Ministerio de Economía y Competitividad under project MTM2011-2271
A pointwise tracking optimal control problem for the stationary Navier--Stokes equations
We study a pointwise tracking optimal control problem for the stationary
Navier--Stokes equations; control constraints are also considered. The problem
entails the minimization of a cost functional involving point evaluations of
the state velocity field, thus leading to an adjoint problem with a linear
combination of Dirac measures as a forcing term in the momentum equation, and
whose solution has reduced regularity properties. We analyze the existence of
optimal solutions and derive first and, necessary and sufficient, second order
optimality conditions in the framework of regular solutions for the
Navier--Stokes equations. We develop two discretization strategies: a
semidiscrete strategy in which the control variable is not discretized, and a
fully discrete scheme in which the control variable is discretized with
piecewise constant functions. For each solution technique, we analyze
convergence properties of discretizations and derive a priori error estimates
Error estimates for the approximation of the velocity tracking problem with Bang-Bang controls
The velocity tracking problem for the evolutionary Navier–Stokes equations in 2d is studied. The controls are of distributed type but the cost functional does not involve the usual quadratic term for the control. As a consequence the resulting controls can be of bang-bang type. First and second order necessary and sufficient conditions are proved. A fully-discrete scheme based on discontinuous (in time) Galerkin approach combined with conforming finite element subspaces in space, is proposed and analyzed. Provided that the time and space discretization parameters, τ and h respectively, satisfy τ ≤ Ch2 , then L2 error estimates are proved for the difference between the states corresponding to locally optimal controls and their discrete approximations.The first author was partially supported by the Spanish Ministerio de Economía y Competitividad under projects MTM2011-22711 and MTM2014-57531-P
Robust Singular Smoothers For Tracking Using Low-Fidelity Data
Tracking underwater autonomous platforms is often difficult because of noisy,
biased, and discretized input data. Classic filters and smoothers based on
standard assumptions of Gaussian white noise break down when presented with any
of these challenges. Robust models (such as the Huber loss) and constraints
(e.g. maximum velocity) are used to attenuate these issues. Here, we consider
robust smoothing with singular covariance, which covers bias and correlated
noise, as well as many specific model types, such as those used in navigation.
In particular, we show how to combine singular covariance models with robust
losses and state-space constraints in a unified framework that can handle very
low-fidelity data. A noisy, biased, and discretized navigation dataset from a
submerged, low-cost inertial measurement unit (IMU) package, with ultra short
baseline (USBL) data for ground truth, provides an opportunity to stress-test
the proposed framework with promising results. We show how robust modeling
elements improve our ability to analyze the data, and present batch processing
results for 10 minutes of data with three different frequencies of available
USBL position fixes (gaps of 30 seconds, 1 minute, and 2 minutes). The results
suggest that the framework can be extended to real-time tracking using robust
windowed estimation.Comment: 9 pages, 9 figures, to be included in Robotics: Science and Systems
201
Strong and auxiliary forms of the semi-Lagrangian method for incompressible flows
We present a review of the semi-Lagrangian method for advection-diusion and incompressible Navier-Stokes equations discretized with high-order methods. In particular, we compare the strong form where the departure points are computed directly via backwards integration with the auxiliary form where an auxiliary advection equation is solved instead; the latter is also referred to as Operator Integration Factor Splitting (OIFS) scheme. For intermediate size of time steps the auxiliary form is preferrable but for large time steps only the strong form is stable
Trajectory Synthesis for Fisher Information Maximization
Estimation of model parameters in a dynamic system can be significantly
improved with the choice of experimental trajectory. For general, nonlinear
dynamic systems, finding globally "best" trajectories is typically not
feasible; however, given an initial estimate of the model parameters and an
initial trajectory, we present a continuous-time optimization method that
produces a locally optimal trajectory for parameter estimation in the presence
of measurement noise. The optimization algorithm is formulated to find system
trajectories that improve a norm on the Fisher information matrix. A
double-pendulum cart apparatus is used to numerically and experimentally
validate this technique. In simulation, the optimized trajectory increases the
minimum eigenvalue of the Fisher information matrix by three orders of
magnitude compared to the initial trajectory. Experimental results show that
this optimized trajectory translates to an order of magnitude improvement in
the parameter estimate error in practice.Comment: 12 page
Analysis of the velocity tracking control problem for the 3D evolutionary Navier-Stokes equations
The velocity tracking problem for the evolutionary Navier–Stokes equations in three dimensions is studied. The controls are of distributed type and are submitted to bound constraints. The classical cost functional is modified so that a full analysis of the control problem is possible. First and second order necessary and sufficient optimality conditions are proved. A fully discrete scheme based on a discontinuous (in time) Galerkin approach, combined with conforming finite element subspaces in space, is proposed and analyzed. Provided that the time and space discretization parameters, τ and h, respectively, satisfy τ ≤ Ch2, the L2(ΩT ) error estimates of order O(h) are proved for the difference between the locally optimal controls and their discrete approximations. Finally, combining these techniques and the approach of Casas, Herzog, and Wachsmuth [SIAM J. Optim., 22 (2012), pp. 795–820], we extend our results to the case of L1(ΩT ) type functionals that allow sparse controls.This author was partially supported by the Spanish Ministerio de Economía y
Competitividad under projects MTM2011-22711 and MTM2014-57531-
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