5,473 research outputs found
Discrete mechanics and optimal control: An analysis
The optimal control of a mechanical system is of crucial importance in many application areas. Typical examples are the determination of a time-minimal path in vehicle dynamics, a minimal energy trajectory in space mission design, or optimal motion sequences in robotics and biomechanics. In most cases, some sort of discretization of the original, infinite-dimensional optimization problem has to be performed in order to make the problem amenable to computations. The approach proposed in this paper is to directly discretize the variational description of the system's motion. The resulting optimization algorithm lets the discrete solution directly inherit characteristic structural properties from the continuous one like symmetries and integrals of the motion. We show that the DMOC (Discrete Mechanics and Optimal Control) approach is equivalent to a finite difference discretization of Hamilton's equations by a symplectic partitioned Runge-Kutta scheme and employ this fact in order to give a proof of convergence. The numerical performance of DMOC and its relationship to other existing optimal control methods are investigated
Optimal stability polynomials for numerical integration of initial value problems
We consider the problem of finding optimally stable polynomial approximations
to the exponential for application to one-step integration of initial value
ordinary and partial differential equations. The objective is to find the
largest stable step size and corresponding method for a given problem when the
spectrum of the initial value problem is known. The problem is expressed in
terms of a general least deviation feasibility problem. Its solution is
obtained by a new fast, accurate, and robust algorithm based on convex
optimization techniques. Global convergence of the algorithm is proven in the
case that the order of approximation is one and in the case that the spectrum
encloses a starlike region. Examples demonstrate the effectiveness of the
proposed algorithm even when these conditions are not satisfied
Optimal mistuning for enhanced aeroelastic stability of transonic fans
An inverse design procedure was developed for the design of a mistuned rotor. The design requirements are that the stability margin of the eigenvalues of the aeroelastic system be greater than or equal to some minimum stability margin, and that the mass added to each blade be positive. The objective was to achieve these requirements with a minimal amount of mistuning. Hence, the problem was posed as a constrained optimization problem. The constrained minimization problem was solved by the technique of mathematical programming via augmented Lagrangians. The unconstrained minimization phase of this technique was solved by the variable metric method. The bladed disk was modelled as being composed of a rigid disk mounted on a rigid shaft. Each of the blades were modelled with a single tosional degree of freedom
Differential-Algebraic Equations and Beyond: From Smooth to Nonsmooth Constrained Dynamical Systems
The present article presents a summarizing view at differential-algebraic
equations (DAEs) and analyzes how new application fields and corresponding
mathematical models lead to innovations both in theory and in numerical
analysis for this problem class. Recent numerical methods for nonsmooth
dynamical systems subject to unilateral contact and friction illustrate the
topicality of this development.Comment: Preprint of Book Chapte
(Un)anticipated Technological Change in an Endogenous Growth Model
This paper examines numerically the impact of a negative exogenous shock to marginal productivity (such as ecological government regulation that becomes effective at some point in time) in an endogenous finite-time growth model with sluggish reallocation of human capital. The policy can be anticipated or unanticipated by firms, and it can also be announced but not implemented. It turns out that these frictions have a very strong long-run effect on output, consumption and on the optimal allocation of capital and labor in particular. The qualitative properties relate to homogenous labor models with positive productivity shocks. The problem is thus to maximize a function of a continuous system, where the system is subject to frictions and stepwise changes; for such a problem the application of calculus of variations necessary conditions is problematic. A numerical optimization method, which has had much success on qualitatively similar problems in engineering, has been employed.two-sector endogenous growth model; unanticipated and anticipated technological change; frictions in reallocation of human capital; Runge-Kutta parallel shooting algorithm
On Model Predictive Path Following and Trajectory Tracking for Industrial Robots
In this article we show how the model predictive path following controller
allows robotic manipulators to stop at obstructions in a way that model
predictive trajectory tracking controllers cannot. We present both controllers
as applied to robotic manipulators, simulations for a two-link manipulator
using an interior point solver, consider discretization of the optimal control
problem using collocation or Runge-Kutta, and discuss the real-time viability
of our implementation of the model predictive path following controller.Comment: Draft of article for CASE 201
High order variational integrators in the optimal control of mechanical systems
In recent years, much effort in designing numerical methods for the
simulation and optimization of mechanical systems has been put into schemes
which are structure preserving. One particular class are variational
integrators which are momentum preserving and symplectic. In this article, we
develop two high order variational integrators which distinguish themselves in
the dimension of the underling space of approximation and we investigate their
application to finite-dimensional optimal control problems posed with
mechanical systems. The convergence of state and control variables of the
approximated problem is shown. Furthermore, by analyzing the adjoint systems of
the optimal control problem and its discretized counterpart, we prove that, for
these particular integrators, dualization and discretization commute.Comment: 25 pages, 9 figures, 1 table, submitted to DCDS-
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