The Optimal Control Problem with Minimum Energy for One Nonlocal Distributed System

2016 ◽  
pp. 417-427
Author(s):  
Olena A. Kapustian ◽  
Oleg K. Mazur
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Distributed System ◽  
Minimum Energy

Optimal motion planning of juggling by 3-DOF manipulators using adaptive PSO algorithm

Robotica ◽  
2013 ◽  
Vol 32 (6) ◽  
pp. 967-984 ◽  
Author(s):  
Adel Akbarimajd
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Minimum Energy ◽  
Pso Algorithm ◽  
Optimization Method ◽  
Horizontal Distance ◽  
Optimal Motion Planning ◽  
Adaptive Pso ◽  
Joint Motions

SUMMARYThree-DOF manipulators were employed for juggling of polygonal objects in order to have full control over object's configuration. Dynamic grasp condition is obtained for the instances that the manipulators carry the object on their palms. Manipulation problem is modeled as a nonlinear optimal control problem. In this optimal control problem, time of free flight is used as a free parameter to determine throw and catch times. Cost function is selected to get maximum covered horizontal distance using minimum energy. By selecting third-order polynomials for joint motions, the problem is changed to a constrained parameter selection problem. Adaptive particle swarm optimization method is consequently employed to solve the optimization problem. Effectiveness of the optimization algorithm is verified by a set of simulations in MSC. ADAMS.

Minimum Energy Control Based on Vector Parameterization for Four-Wheel Drive Omni-Directional Mobile Robots

2013 ◽  
Vol 341-342 ◽  
pp. 784-790
Author(s):  
Jian Ping Chen ◽  
Jian Bin Wang ◽  
Yi Min Yang
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Mobile Robots ◽  
Minimum Energy ◽  
Final Time ◽  
Wheel Drive ◽  
Time Optimal ◽  
Time Optimal Control Problem ◽  
Four Wheel Drive

Four-wheel drive omni-directional mobile robots (FDOMRs) usually carry limited energy and have to accomplish their tasks before deadlines. Energy saving can be achieved in several ways, and one of that is determining a velocity trajectory. To find the minimum energy trajectory, a practical cost function is chosen as the total energy drawn from the batteries. However, the cost function is a free final time optimal control problem, which is usually complex and has no explicit solution. A normalized time variable is used to transform the original problem into a fixed final time optimal control problem, which is solved by using uniform control vector parameterization. Various simulations are performed and the consumed energy is compared to the normal control method that without minimum energy consumption control. Simulation results show that the energy saving is much more compared to the traditional control, the operational time of the FDOMR with given batteries is lengthened and the efficiency of battery is improved.

An optimal control problem in exterior hydrodynamics

1992 ◽  
Vol 121 (1-2) ◽  
pp. 5-32 ◽  
Author(s):  
S. S. Sritharan
Keyword(s):  
Optimal Control ◽  
Energy Expenditure ◽  
Optimal Control Problem ◽  
Viscous Fluid ◽  
Control Problem ◽  
Existence Theorem ◽  
Minimum Energy ◽  
Reynolds Numbers ◽  
Incompressible Viscous Fluid ◽  
Absolute Minimum

SynopsisIn this paper we consider the problem of accelerating an obstacle in an incompressible viscous fluid from rest to a given speed in a given time with minimum energy expenditure. An existence theorem for the speed trajectory which corresponds to the absolute minimum is provided. The results are valid for arbitrary Reynolds numbers.

Optimal control problem for a discrete distributed system with fixed final state

1999 ◽  
Vol 32 (2) ◽  
pp. 2882-2886
Author(s):  
L. Chraibi ◽  
J. Karrakchou ◽  
A. Ouansafi ◽  
M. Rachik
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Distributed System ◽  
Final State

REDUCED MODEL OF PLASMA DISCHARGE CONTROL IN TOKAMAK WITH IRON CORE

2020 ◽  
Vol 7 (3) ◽  
pp. 11-22
Author(s):  
VALERY ANDREEV ◽  
◽  
ALEXANDER POPOV
Keyword(s):  
Optimal Control ◽  
Inverse Problem ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Nonlinear Behavior ◽  
Plasma Discharge ◽  
Reduced Model ◽  
Iron Core ◽  
Power Sources ◽  
Real Power

A reduced model has been developed to describe the time evolution of a discharge in an iron core tokamak, taking into account the nonlinear behavior of the ferromagnetic during the discharge. The calculation of the discharge scenario and program regime in the tokamak is formulated as an inverse problem - the optimal control problem. The methods for solving the problem are compared and the analysis of the correctness and stability of the control problem is carried out. A model of “quasi-optimal” control is proposed, which allows one to take into account real power sources. The discharge scenarios are calculated for the T-15 tokamak with an iron core.

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