Optimal Control: Successive Solution Methods

Author(s):  
Ido Halperin ◽  
Grigory Agranovich ◽  
Yuri Ribakov
2020 ◽  
Vol 146 (2) ◽  
pp. 335-368
Author(s):  
Owe Axelsson ◽  
János Karátson

Abstract Matrices or operators in two-by-two block form with square blocks arise in numerous important applications, such as in optimal control problems for PDEs. The problems are normally of very large scale so iterative solution methods must be used. Thereby the choice of an efficient and robust preconditioner is of crucial importance. Since some time a very efficient preconditioner, the preconditioned square block, PRESB method has been used by the authors and coauthors in various applications, in particular for optimal control problems for PDEs. It has been shown to have excellent properties, such as a very fast and robust rate of convergence that outperforms other methods. In this paper the fundamental and most important properties of the method are stressed and presented with new and extended proofs. Under certain conditions, the condition number of the preconditioned matrix is bounded by 2 or even smaller. Furthermore, under certain assumptions the rate of convergence is superlinear.


Robotica ◽  
2018 ◽  
Vol 37 (1) ◽  
pp. 39-61 ◽  
Author(s):  
M. Irani Rahaghi ◽  
F. Barat

SUMMARYThe purpose of this study is to determine the dynamic load carrying capacity (DLCC) of a manipulator that moves on the specified path using a new closed loop optimal control method. Solution methods for designing nonlinear optimal controllers in a closed-loop form are usually based on indirect methods, but the proposed method is a combination of direct and indirect methods. Optimal control law is given by solving the nonlinear Hamilton–Jacobi–Bellman (HJB) partial differential equation. This equation is complex to solve exactly for complex dynamics, so it is solved numerically using the Galerkin procedure combined with a nonlinear optimization algorithm. To check the performance of the proposed algorithm, the simulation is performed for a fixed manipulator. The results represent the efficiency of the method for tracking the pre-determined path and determining the DLCC. Finally, an experimental test has been done for a two-link manipulator and compare with simulation results.


2019 ◽  
Vol 184 (3) ◽  
pp. 1065-1082 ◽  
Author(s):  
Stefan Wrzaczek ◽  
Michael Kuhn ◽  
Ivan Frankovic

AbstractThe paper presents a transformation of a multi-stage optimal control model with random switching time to an age-structured optimal control model. Following the mathematical transformation, the advantages of the present approach, as compared to a standard backward approach, are discussed. They relate in particular to a compact and unified representation of the two stages of the model: the applicability of well-known numerical solution methods and the illustration of state and control dynamics. The paper closes with a simple example on a macroeconomic shock, illustrating the workings and advantages of the approach.


2011 ◽  
Vol 467-469 ◽  
pp. 625-628
Author(s):  
Ming Qi Chang

Located in the upper stream of the Hanjiang River, the Ankang Reservoir is a large hydro-junction mainly for electric power generation as well as for flood prevention and shipping. Rainstorms in the Hanjiang River in summer have high occurrence with concentrated floods characterized by sudden surge and sudden fall. Considering staggering the Hanjiang River and the Yuehe River flood peaks, on the premise of ensuring the dam safety and meeting the flood prevention requirements of Ankang Town, this Thesis establishes the mathematical model for the Ankang Reservoir large flood multi-objective optimal deployment, adopts the progressive optimality algorithm (POA) to solve the model to work out the optimal control with the inconsistent objectives of flood prevention and power generation during large flood and gives examples. The result shows that the mathematical model is workable and practicable and the solution methods are rapid and accurate.


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