An inverse optimal approach to ship course-keeping control

2020 ◽  
Vol 37 (4) ◽  
pp. 1192-1217
Author(s):  
Chuanrui Wang ◽  
Chuanxu Yan ◽  
Zhenchong Liu ◽  
Feng Cao
Keyword(s):  
Optimal Control ◽  
Control Problem ◽  
Assignment Problem ◽  
Inverse Optimal Control ◽  
Adaptive Stabilization ◽  
Control Laws ◽  
Optimal Stabilization ◽  
Control Approach ◽  
Stabilization Control ◽  
Optimal Approach

Abstract This paper deals with the ship course tracking control problem in a novel inverse optimal control approach. The inverse optimal stabilization problem and inverse optimal gain assignment problem are firstly extended to general systems affine in the control with unknown control gain. It is shown that a sufficient condition to solve the inverse optimal control problem is the existence of a stabilization control law in a special form for a corresponding auxiliary system. Then, by employing backstepping technique, control laws are designed which solve the inverse optimal stabilization, inverse optimal adaptive stabilization and inverse optimal adaptive gain assignment problem of ship course control system, respectively. Simulations are included to illustrate the effectiveness of the proposed control algorithms.

Optimal formation control with limited communication for multi-unmanned aerial vehicle in an obstacle-laden environment

2016 ◽  
Vol 231 (6) ◽  
pp. 979-997 ◽  
Author(s):  
Xiao Lin Ai ◽  
Jian Qiao Yu ◽  
Yong Bo Chen ◽  
Fang Zheng Chen ◽  
Yuan Chuan Shen
Keyword(s):  
Optimal Control ◽  
Control Problem ◽  
Formation Control ◽  
Control Laws ◽  
Control Approach ◽  
Practical Applications ◽  
Limited Communication ◽  
Aerial Vehicle ◽  
The Stability ◽  
Virtual Leader

This paper investigates the formation control problem of multiple unmanned aerial vehicles (UAVs) with limited communication in a known and realistic obstacle-laden environment. In order to deal with the limited communication constraints, the leader–follower strategy and the virtual leader strategy are integrated into an optimal control framework to formulate this formation control problem. This combination formation framework can be achieved by integrating a redefined directed graph and a proposed information vector. In more practical applications, an obstacle/collision avoidance strategy is achieved by constructing a non-quadratic cost function innovatively using a virtual flow field approach. The proposed optimal control laws, which derive from the local information rather than the global information, are proved to guarantee the stability of the close-loop system by an inverse optimal control approach. The simulation results demonstrate the effectiveness of the formation flight of multiple UAVs with limited communication in an obstacle-laden environment.

STERILIZATION OF CANNED VISCOUS FOODS: AN OPTIMAL CONTROL APPROACH

2004 ◽  
Vol 14 (03) ◽  
pp. 355-374 ◽  
Author(s):  
L. J. ALVAREZ-VAZQUEZ ◽  
M. MARTA ◽  
A. MARTINEZ
Keyword(s):  
Optimal Control ◽  
Control Problem ◽  
Nutrient Retention ◽  
Reaction Diffusion ◽  
The State ◽  
Reaction Diffusion Equations ◽  
Boussinesq System ◽  
Temperature Dependent Viscosity ◽  
Control Approach ◽  
Dependent Viscosity

In this paper, we study an optimal control problem with pointwise constraints on state and control, related to sterilization processes involving heat transfer by natural convection. We introduce the mathematical model for the state system, which couples the Boussinesq system for temperature-dependent viscosity and the convection-reaction-diffusion equations, and we set the whole problem as a control problem, assuring the micro-organism reduction, the nutrient retention and the energy saving. The existence and the regularity of the state are studied. Finally, we obtain existence results for the optimal solutions and a first-order optimality condition for their characterization.

scholarly journals Discrete-time inverse optimal control for a reaction wheel pendulum: a passivity-based control approach

2020 ◽  
Vol 19 (4) ◽  
pp. 123-132 ◽  
Author(s):  
Oscar Danilo Montoya ◽  
Walter Gil-González ◽  
Federico Martin Serra
Keyword(s):  
Optimal Control ◽  
Discrete Time ◽  
Point Of View ◽  
Control Analysis ◽  
Inverse Optimal Control ◽  
Reaction Wheel ◽  
Control Approach ◽  
Control Functions ◽  
Passivity Based Control ◽  
The Time Domain

In this paper it is presented the design of a controller for a reaction wheel pendulum using a discrete-time representation via optimal control from the point of view of passivity-based control analysis. The main advantage of the proposed approach is that it allows to guarantee asymptotic stability convergence using a quadratic candidate Lyapunovfunction. Numerical simulations show that the proposed inverse optimal control design permits to reach superiornumerical performance reported by continuous approaches such as Lyapunov control functions and interconnection,and damping assignment passivity-based controllers. An additional advantageof the proposed inverse optimal controlmethod is its easy implementation since it does not employ additional states. It is only required a basic discretizationof the time-domain dynamical model based on the backward representation. All the simulations are carried out inMATLAB/OCTAVE software using a codification on the script environment.

Energy efficiency path planning for a quadrotor aerial vehicle

2021 ◽  
pp. 014233122110585
Author(s):  
Fouad Yacef ◽  
Nassim Rizoug ◽  
Laid Degaa ◽  
Omar Bouhali ◽  
Mustapha Hamerlain
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Weather Conditions ◽  
Optimization Method ◽  
Control Approach ◽  
Mission Success ◽  
Aerial Vehicle ◽  
Vehicle Trajectory ◽  
Point To Point

Unmanned aerial vehicles are used today in many real-world applications. In all these applications, the vehicle endurance (flight time) is an important constraint that affects mission success. This study investigates the limitations of embedded energy for a quadrotor aerial vehicle. We consider a quadrotor simple tasked to travel from an initial hover configuration to a final hover configuration. In order to have a precise approximation of the consumed energy, we propose a power consumption model with battery dynamic, motor dynamic, and rotor efficiency function. We then introduce an optimization algorithm to minimize the energy consumption during quadrotor aerial vehicle mission. The proposed algorithm is based on an optimal control problem formulated for the quadrotor model and solved using nonlinear programming. In the optimal control problem, we seek to find control inputs (rotor velocity) and vehicle trajectory between initial and final configurations that minimize the consumed energy during a point-to-point mission. We extensively test in simulation experiments the proposed algorithm under normal and windy weather conditions. We compare the proposed optimization method with a nonlinear adaptive control approach to highlight the saved amount of energy.

scholarly journals USING DYNAMIC NEURAL NETWORKS TO GENERATE CHAOS: AN INVERSE OPTIMAL CONTROL APPROACH

2001 ◽  
Vol 11 (03) ◽  
pp. 857-863 ◽  
Author(s):  
EDGAR N. SANCHEZ ◽  
JOSE P. PEREZ ◽  
GUANRONG CHEN
Keyword(s):  
Neural Networks ◽  
Optimal Control ◽  
Chaotic Attractors ◽  
Control Law ◽  
Inverse Optimal Control ◽  
Dynamic Neural Network ◽  
Dynamic Neural Networks ◽  
New Approach ◽  
Control Approach ◽  
Optimal Control Approach

This Letter suggests a new approach to generating chaos via dynamic neural networks. This approach is based on a recently introduced methodology of inverse optimal control for nonlinear systems. Both Chen's chaotic system and Chua's circuit are used as examples for demonstration. The control law is derived to force a dynamic neural network to reproduce the intended chaotic attractors. Computer simulations are included for illustration and verification.

CHAOTIFYING FUZZY HYPERBOLIC MODEL USING ADAPTIVE INVERSE OPTIMAL CONTROL APPROACH

2004 ◽  
Vol 14 (10) ◽  
pp. 3505-3517 ◽  
Author(s):  
HUAGUANG ZHANG ◽  
ZHILIANG WANG ◽  
DERONG LIU
Keyword(s):  
Optimal Control ◽  
Chaotic System ◽  
Parameter Tuning ◽  
Hyperbolic Model ◽  
Inverse Optimal Control ◽  
Control Approach ◽  
Adaptive Parameter ◽  
System A ◽  
Tuning Methods ◽  
Optimal Control Approach

In this paper, the problem of chaotifying the continuous-time fuzzy hyperbolic model (FHM) is studied. By tracking the dynamics of a chaotic system, a controller based on inverse optimal control and adaptive parameter tuning methods is designed to chaotify the FHM. Simulation results show that for any initial value the FHM can track a chaotic system asymptotically.

scholarly journals Optimal bilinear control of eddy current equations with grad–div regularization

2015 ◽  
Vol 23 (1) ◽  
Author(s):  
Irwin Yousept
Keyword(s):  
Optimal Control ◽  
Control Problem ◽  
Electric Conductivity ◽  
Eddy Current ◽  
Regularity Property ◽  
Control Approach ◽  
Bilinear Control ◽  
Time Harmonic ◽  
Eddy Current Equations ◽  
Higher Regularity

AbstractAn optimal bilinear control problem governed by time-harmonic eddy current equations is considered to estimate the electric conductivity of a 3D bounded isotropic domain. The model problem is mainly complicated by the possible presence of non-conducting materials in the domain. We introduce an optimal control approach based on grad-div regularization and divergence penalization. The estimation for the electric conductivity obtained by solving the optimal control problem is allowed to be discontinuous. Here, no higher regularity property can be derived from the corresponding optimality conditions. We analyze the approach and present various numerical results exhibiting its numerical performance

From human to humanoid locomotion—an inverse optimal control approach

2009 ◽  
Vol 28 (3) ◽  
pp. 369-383 ◽  
Author(s):  
Katja Mombaur ◽  
Anh Truong ◽  
Jean-Paul Laumond
Keyword(s):  
Optimal Control ◽  
Inverse Optimal Control ◽  
Control Approach ◽  
Optimal Control Approach
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