scholarly journals Resolution of a Linear-quadratic Optimal Control Problem Based on Finite-dimensional Models

2021 ◽  
Vol 37 ◽  
pp. 3-16
Author(s):  
V.A. Srochko ◽  
◽  
E.V. Aksenyushkina ◽  
V.G. Antonik ◽  
◽  
...  
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Regularization Parameter ◽  
Convexity Property ◽  
Dimensional Model ◽  
Linear Quadratic ◽  
Linear Quadratic Optimal Control ◽  
Finite Dimensional ◽  
Quadratic Optimal Control

We consider a linear-quadratic optimal control problem with indefinite matrices and the interval control constraint. The problem also has a regularizationparameter in the functional. The approximate solution of the problem is carried out on subsets of admissible controls, which are formed using linear combinations of special functions with an orientation to the optimal control structure due to the maximum principle. As a result of this procedure, a finite-dimensional quadratic optimization problem with the interval constraint on variables is obtained. The following relations between the variational problem and its finite-dimensional model are established: the convexity property of the optimal control problem is preserved for finite-dimensional model; a nonconvex optimal control problem under a certain condition on the regularization parameter (estimate from below) is approximated by a convex quadratic problem, which is solved in a finite number of operations;a special non-convex optimal control problem with an upper bound on the regularization parameter passes into the problem of minimizing a concave function on a finite set of points. A special case of a non-convex optimal control problem for the maximum of the norm of the final state is distinguished. Two procedures for improving the extreme points of finite-dimensional model are constructed, which reduce the computational costs for the global solution of the problem within the framework of the linearization method.

scholarly journals Convergence results for an averaged LQR problem with applications to reinforcement learning

2021 ◽  
Author(s):  
Andrea Pesare ◽  
Michele Palladino ◽  
Maurizio Falcone
Keyword(s):  
Optimal Control ◽  
Reinforcement Learning ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Current System ◽  
Numerical Test ◽  
Linear Quadratic ◽  
Linear Quadratic Optimal Control ◽  
Lqr Problem ◽  
Quadratic Optimal Control

AbstractIn this paper, we will deal with a linear quadratic optimal control problem with unknown dynamics. As a modeling assumption, we will suppose that the knowledge that an agent has on the current system is represented by a probability distribution $$\pi $$ π on the space of matrices. Furthermore, we will assume that such a probability measure is opportunely updated to take into account the increased experience that the agent obtains while exploring the environment, approximating with increasing accuracy the underlying dynamics. Under these assumptions, we will show that the optimal control obtained by solving the “average” linear quadratic optimal control problem with respect to a certain $$\pi $$ π converges to the optimal control driven related to the linear quadratic optimal control problem governed by the actual, underlying dynamics. This approach is closely related to model-based reinforcement learning algorithms where prior and posterior probability distributions describing the knowledge on the uncertain system are recursively updated. In the last section, we will show a numerical test that confirms the theoretical results.

scholarly journals Two Inverse Problems Solution by Feedback Tracking Control

Axioms ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 137
Author(s):  
Vladimir Turetsky
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Feedback Linearization ◽  
Linear Quadratic ◽  
Linear Quadratic Optimal Control ◽  
Linear Quadratic Tracking ◽  
Ill Posed ◽  
Quadratic Optimal Control ◽  
Quadratic Tracking

Two inverse ill-posed problems are considered. The first problem is an input restoration of a linear system. The second one is a restoration of time-dependent coefficients of a linear ordinary differential equation. Both problems are reformulated as auxiliary optimal control problems with regularizing cost functional. For the coefficients restoration problem, two control models are proposed. In the first model, the control coefficients are approximated by the output and the estimates of its derivatives. This model yields an approximating linear-quadratic optimal control problem having a known explicit solution. The derivatives are also obtained as auxiliary linear-quadratic tracking controls. The second control model is accurate and leads to a bilinear-quadratic optimal control problem. The latter is tackled in two ways: by an iterative procedure and by a feedback linearization. Simulation results show that a bilinear model provides more accurate coefficients estimates.

scholarly journals On linear-quadratic optimal control of implicit difference equations

2018 ◽  
Vol 36 (3) ◽  
pp. 779-833
Author(s):  
Daniel Bankmann ◽  
Matthias Voigt
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Difference Equations ◽  
Matrix Pencil ◽  
Spectral Structure ◽  
Optimal Controls ◽  
Linear Quadratic ◽  
Linear Quadratic Optimal Control ◽  
Quadratic Optimal Control

Abstract In this work we investigate explicit and implicit difference equations and the corresponding infinite time horizon linear-quadratic optimal control problem. We derive conditions for feasibility of the optimal control problem as well as existence and uniqueness of optimal controls under certain weaker assumptions compared to the standard approaches in the literature which are using algebraic Riccati equations. To this end, we introduce and analyse a discrete-time Lur’e equation and a corresponding Kalman–Yakubovich–Popov (KYP) inequality. We show that solvability of the KYP inequality can be characterized via the spectral structure of a certain palindromic matrix pencil. The deflating subspaces of this pencil are finally used to construct solutions of the Lur’e equation. The results of this work are transferred from the continuous-time case. However, many additional technical difficulties arise in this context.

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