546 research outputs found
A Primal-Dual Method for Optimal Control and Trajectory Generation in High-Dimensional Systems
Presented is a method for efficient computation of the Hamilton-Jacobi (HJ)
equation for time-optimal control problems using the generalized Hopf formula.
Typically, numerical methods to solve the HJ equation rely on a discrete grid
of the solution space and exhibit exponential scaling with dimension. The
generalized Hopf formula avoids the use of grids and numerical gradients by
formulating an unconstrained convex optimization problem. The solution at each
point is completely independent, and allows a massively parallel implementation
if solutions at multiple points are desired. This work presents a primal-dual
method for efficient numeric solution and presents how the resulting optimal
trajectory can be generated directly from the solution of the Hopf formula,
without further optimization. Examples presented have execution times on the
order of milliseconds and experiments show computation scales approximately
polynomial in dimension with very small high-order coefficients.Comment: Updated references and funding sources. To appear in the proceedings
of the 2018 IEEE Conference on Control Technology and Application
Koopman-Hopf Hamilton-Jacobi Reachability and Control
The Hopf formula for Hamilton-Jacobi Reachability analysis has been proposed
for solving viscosity solutions of high-dimensional differential games as a
space-parallelizeable method. In exchange, however, a complex, potentially
non-convex optimization problem must be solved, limiting its application to
linear time-varying systems. With the intent of solving Hamilton-Jacobi
backwards reachable sets (BRS) and their corresponding online controllers, we
pair the Hopf solution with Koopman theory, which can linearize
high-dimensional nonlinear systems. We find that this is a viable method for
approximating the BRS and performs better than local linearizations.
Furthermore, we construct a Koopman-Hopf controller for robustly driving a
10-dimensional, nonlinear, stochastic, glycolysis model and find that it
significantly out-competes both stochastic and game-theoretic Koopman-based
model predictive controllers against stochastic disturbance
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Algorithms for Optimal Paths of One, Many, and an Infinite Number of Agents
In this dissertation, we provide efficient algorithms for modeling the behavior of a single agent, multiple agents, and a continuum of agents. For a single agent, we combine the modeling framework of optimal control with advances in optimization splitting in order to efficiently find optimal paths for problems in very high-dimensions, thus providing alleviation from the curse of dimensionality. For a multiple, but finite, number of agents, we take the framework of multi-agent reinforcement learning and utilize imitation learning in order to decentralize a centralized expert, thus obtaining optimal multi-agents that act in a decentralized fashion. For a continuum of agents, we take the framework of mean-field games and use two neural networks, which we train in an alternating scheme, in order to efficiently find optimal paths for high-dimensional and stochastic problems. These tools cover a wide variety of use-cases that can be immediately deployed for practical applications
Stochastic analysis of nonlinear dynamics and feedback control for gene regulatory networks with applications to synthetic biology
The focus of the thesis is the investigation of the generalized repressilator model
(repressing genes ordered in a ring structure). Using nonlinear bifurcation analysis
stable and quasi-stable periodic orbits in this genetic network are characterized
and a design for a switchable and controllable genetic oscillator is proposed. The
oscillator operates around a quasi-stable periodic orbit using the classical engineering
idea of read-out based control. Previous genetic oscillators have been
designed around stable periodic orbits, however we explore the possibility of
quasi-stable periodic orbit expecting better controllability.
The ring topology of the generalized repressilator model has spatio-temporal
symmetries that can be understood as propagating perturbations in discrete lattices.
Network topology is a universal cross-discipline transferable concept and
based on it analytical conditions for the emergence of stable and quasi-stable
periodic orbits are derived. Also the length and distribution of quasi-stable oscillations
are obtained. The findings suggest that long-lived transient dynamics
due to feedback loops can dominate gene network dynamics.
Taking the stochastic nature of gene expression into account a master equation
for the generalized repressilator is derived. The stochasticity is shown to influence
the onset of bifurcations and quality of oscillations. Internal noise is shown to
have an overall stabilizing effect on the oscillating transients emerging from the
quasi-stable periodic orbits.
The insights from the read-out based control scheme for the genetic oscillator
lead us to the idea to implement an algorithmic controller, which would direct
any genetic circuit to a desired state. The algorithm operates model-free, i.e. in
principle it is applicable to any genetic network and the input information is a
data matrix of measured time series from the network dynamics. The application
areas for readout-based control in genetic networks range from classical tissue
engineering to stem cells specification, whenever a quantitatively and temporarily
targeted intervention is required
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SciCADE 95: International conference on scientific computation and differential equations
This report consists of abstracts from the conference. Topics include algorithms, computer codes, and numerical solutions for differential equations. Linear and nonlinear as well as boundary-value and initial-value problems are covered. Various applications of these problems are also included
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