567 research outputs found
Optimal control and robust estimation for ocean wave energy converters
This thesis deals with the optimal control of wave energy converters and some associated
observer design problems. The first part of the thesis will investigate model
predictive control of an ocean wave energy converter to maximize extracted power.
A generic heaving converter that can have both linear dampers and active elements
as a power take-off system is considered and an efficient optimal control algorithm
is developed for use within a receding horizon control framework. The optimal
control is also characterized analytically. A direct transcription of the optimal control
problem is also considered as a general nonlinear program. A variation of
the projected gradient optimization scheme is formulated and shown to be feasible
and computationally inexpensive compared to a standard nonlinear program solver.
Since the system model is bilinear and the cost function is not convex quadratic, the
resulting optimization problem is shown not to be a quadratic program. Results are
compared with other methods like optimal latching to demonstrate the improvement
in absorbed power under irregular sea condition simulations.
In the second part, robust estimation of the radiation forces and states inherent in
the optimal control of wave energy converters is considered. Motivated by this, low
order H∞ observer design for bilinear systems with input constraints is investigated
and numerically tractable methods for design are developed. A bilinear Luenberger
type observer is formulated and the resulting synthesis problem reformulated as that
for a linear parameter varying system. A bilinear matrix inequality problem is then
solved to find nominal and robust quadratically stable observers. The performance
of these observers is compared with that of an extended Kalman filter. The robustness
of the observers to parameter uncertainty and to variation in the radiation
subsystem model order is also investigated.
This thesis also explores the numerical integration of bilinear control systems with
zero-order hold on the control inputs. Making use of exponential integrators, exact
to high accuracy integration is proposed for such systems. New a priori bounds
are derived on the computational complexity of integrating bilinear systems with a
given error tolerance. Employing our new bounds on computational complexity, we
propose a direct exponential integrator to solve bilinear ODEs via the solution of
sparse linear systems of equations. Based on this, a novel sparse direct collocation
of bilinear systems for optimal control is proposed. These integration schemes are
also used within the indirect optimal control method discussed in the first part.Open Acces
Sampling from a system-theoretic viewpoint: Part II - Noncausal solutions
This paper puts to use concepts and tools introduced in Part I to address a wide spectrum of noncausal sampling and reconstruction problems. Particularly, we follow the system-theoretic paradigm by using systems as signal generators to account for available information and system norms (L2 and L∞) as performance measures. The proposed optimization-based approach recovers many known solutions, derived hitherto by different methods, as special cases under different assumptions about acquisition or reconstructing devices (e.g., polynomial and exponential cardinal splines for fixed samplers and the Sampling Theorem and its modifications in the case when both sampler and interpolator are design parameters). We also derive new results, such as versions of the Sampling Theorem for downsampling and reconstruction from noisy measurements, the continuous-time invariance of a wide class of optimal sampling-and-reconstruction circuits, etcetera
Error representation of the time-marching DPG scheme
In this article, we introduce an error representation function to perform adaptivity in time of the recently developed time-marching Discontinuous Petrov–Galerkin (DPG) scheme. We first provide an analytical expression for the error that is the Riesz representation of the residual. Then, we approximate the error by enriching the test space in such a way that it contains the optimal test functions. The local error contributions can be efficiently computed by adding a few equations to the time-marching scheme. We analyze the quality of such approximation by constructing a Fortin operator and providing an a posteriori error estimate. The time-marching scheme proposed in this article provides an optimal solution along with a set of efficient and reliable local error contributions to perform adaptivity. We validate our method for both parabolic and hyperbolic problems
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Differential-Algebraic Equations
Differential-Algebraic Equations (DAE) are today an independent field of research, which is gaining in importance and becoming of increasing interest for applications and mathematics itself. This workshop has drawn the balance after about 25 years investigations of DAEs and the research aims of the future were intensively discussed
A fluctuating boundary integral method for Brownian suspensions
We present a fluctuating boundary integral method (FBIM) for overdamped
Brownian Dynamics (BD) of two-dimensional periodic suspensions of rigid
particles of complex shape immersed in a Stokes fluid. We develop a novel
approach for generating Brownian displacements that arise in response to the
thermal fluctuations in the fluid. Our approach relies on a first-kind boundary
integral formulation of a mobility problem in which a random surface velocity
is prescribed on the particle surface, with zero mean and covariance
proportional to the Green's function for Stokes flow (Stokeslet). This approach
yields an algorithm that scales linearly in the number of particles for both
deterministic and stochastic dynamics, handles particles of complex shape,
achieves high order of accuracy, and can be generalized to three dimensions and
other boundary conditions. We show that Brownian displacements generated by our
method obey the discrete fluctuation-dissipation balance relation (DFDB). Based
on a recently-developed Positively Split Ewald method [A. M. Fiore, F. Balboa
Usabiaga, A. Donev and J. W. Swan, J. Chem. Phys., 146, 124116, 2017],
near-field contributions to the Brownian displacements are efficiently
approximated by iterative methods in real space, while far-field contributions
are rapidly generated by fast Fourier-space methods based on fluctuating
hydrodynamics. FBIM provides the key ingredient for time integration of the
overdamped Langevin equations for Brownian suspensions of rigid particles. We
demonstrate that FBIM obeys DFDB by performing equilibrium BD simulations of
suspensions of starfish-shaped bodies using a random finite difference temporal
integrator.Comment: Submitted to J. Comp. Phy
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