186 research outputs found
Global optimal control of perturbed systems
We propose a new numerical method for the computation of the optimal value
function of perturbed control systems and associated globally stabilizing
optimal feedback controllers. The method is based on a set oriented
discretization of state space in combination with a new algorithm for the
computation of shortest paths in weighted directed hypergraphs. Using the
concept of a multivalued game, we prove convergence of the scheme as the
discretization parameter goes to zero
Lazy global feedbacks for quantized nonlinear event systems
We consider nonlinear event systems with quantized state information and
design a globally stabilizing controller from which only the minimal required
number of control value changes along the feedback trajectory to a given
initial condition is transmitted to the plant. In addition, we present a
non-optimal heuristic approach which might reduce the number of control value
changes and requires a lower computational effort. The constructions are
illustrated by two numerical examples
Pseudo generators of spatial transfer operators
Metastable behavior in dynamical systems may be a significant challenge for a
simulation based analysis. In recent years, transfer operator based approaches
to problems exhibiting metastability have matured. In order to make these
approaches computationally feasible for larger systems, various reduction
techniques have been proposed: For example, Sch\"utte introduced a spatial
transfer operator which acts on densities on configuration space, while Weber
proposed to avoid trajectory simulation (like Froyland et al.) by considering a
discrete generator.
In this manuscript, we show that even though the family of spatial transfer
operators is not a semigroup, it possesses a well defined generating structure.
What is more, the pseudo generators up to order 4 in the Taylor expansion of
this family have particularly simple, explicit expressions involving no
momentum averaging. This makes collocation methods particularly easy to
implement and computationally efficient, which in turn may open the door for
further efficiency improvements in, e.g., the computational treatment of
conformation dynamics. We experimentally verify the predicted properties of
these pseudo generators by means of two academic examples
Designing optimal low-thrust gravity-assist trajectories using space-pruning and a multi-objective approach
A multi-objective problem is addressed consisting of finding optimal low-thrust gravity-assist trajectories for interplanetary and orbital transfers. For this, recently developed pruning techniques for incremental search space reduction - which will be extended for the current situation - in combination with subdivision techniques for the approximation of the entire solution set, the so-called Pareto set, are used. Subdivision techniques are particularly promising for the numerical treatment of these multi-objective design problems since they are characterized (amongst others) by highly disconnected feasible domains, which can easily be handled by these set oriented methods. The complexity of the novel pruning techniques is analysed, and finally the usefulness of the novel approach is demonstrated by showing some numerical results for two realistic cases
Optimal Reconfiguration of Formation Flying Spacecraft--a Decentralized Approach
This paper introduces a hierarchical, decentralized,
and parallelizable method for dealing with optimization
problems with many agents. It is theoretically based on a hierarchical
optimization theorem that establishes the equivalence
of two forms of the problem, and this idea is implemented using
DMOC (Discrete Mechanics and Optimal Control). The result
is a method that is scalable to certain optimization problems
for large numbers of agents, whereas the usual “monolithic”
approach can only deal with systems with a rather small
number of degrees of freedom. The method is illustrated with
the example of deployment of spacecraft, motivated by the
Darwin (ESA) and Terrestrial Planet Finder (NASA) missions
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
Sparse Control of Alignment Models in High Dimension
For high dimensional particle systems, governed by smooth nonlinearities
depending on mutual distances between particles, one can construct
low-dimensional representations of the dynamical system, which allow the
learning of nearly optimal control strategies in high dimension with
overwhelming confidence. In this paper we present an instance of this general
statement tailored to the sparse control of models of consensus emergence in
high dimension, projected to lower dimensions by means of random linear maps.
We show that one can steer, nearly optimally and with high probability, a
high-dimensional alignment model to consensus by acting at each switching time
on one agent of the system only, with a control rule chosen essentially
exclusively according to information gathered from a randomly drawn
low-dimensional representation of the control system.Comment: 39 page
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