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Wyświetlanie 1-15 z 58
Tytuł:
Optimal control of partial differential equations with affine control constraints
Autorzy:
Reyes, J. R. de los
Kunisch, K.
Powiązania:
https://bibliotekanauki.pl/articles/1839187.pdf
Data publikacji:
2009
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
optimal control
affine control constraints
semi-smooth Newton methods
Opis:
Numerical solution of PDE optimal control problems involving affine pointwise control constraints is investigated. Optimality conditions are derived and a semi-smooth Newton method is presented. Global and local superlinear convergence of the method are obtained for linear problems. Differently from box constraints, in the case of general affine constraints a proper weighting of the control costs is essential for superlinear convergence of semi-smooth Newton methods. This is also demonstrated numerically by controlling the two-dimensional Stokes equations with different kinds of affine constraints.
Źródło:
Control and Cybernetics; 2009, 38, 4A; 1217-1249
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Optimal Control of a Drying Process with Avoiding Cracks
Autorzy:
Galant, Alexander
Grossman, Christian
Scheffler, Michael
Wensch, Jörg
Powiązania:
https://bibliotekanauki.pl/articles/1373542.pdf
Data publikacji:
2012
Wydawca:
Uniwersytet Jagielloński. Wydawnictwo Uniwersytetu Jagiellońskiego
Tematy:
optimal control
penalty barrier methods
control constraints
coupled parabolic system
descretization
Opis:
The paper deals with the numerical treatment of the optimal control of drying of materials which may lead to cracks. The drying process is controlled by temperature, velocity and humidity of the surrounding air. The state equations dene the humidity and temperature distribution within a simplied wood specimen for given controls. The elasticity equation describes the internal stresses under humidity and temperature changes. To avoid cracks these internal stresses have to be limited. The related constraints are treated by smoothed exact barrier-penalty techniques. The objective functional of the optimal control problem is of tracking type. Further it contains a quadratic regularization by an energy term for the control variables (surrounding air) and barrier-penalty terms. The necessary optimality conditions of the auxiliary problem form a coupled system of nonlinear equations in appropriate function spaces. This optimality system is given by the state equations and the related adjoint equations, but also by an approximate projection onto the admissible set of controls by means of barrier-penalty terms. This system is discretized by nite elements and treated iteratively for given controls. The optimal control itself is performed by quasi-Newton techniques.
Źródło:
Schedae Informaticae; 2012, 21; 81-105
0860-0295
2083-8476
Pojawia się w:
Schedae Informaticae
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Identification of matrix parameters in elliptic PDEs
Autorzy:
Deckelnick, K.
Hinze, M.
Powiązania:
https://bibliotekanauki.pl/articles/206153.pdf
Data publikacji:
2011
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
parameter identification
elliptic optimal control problem
control constraints
H-convergence
variational discretization
Opis:
In the present work we treat the inverse problem of identifying the matrix-valued diffusion coefficient of an elliptic PDE from multiple interior measurements with the help of techniques from PDE constrained optimization. We prove existence of solutions using the concept of H-convergence and employ variational discretization for the discrete approximation of solutions. Using a discrete version of H-convergence we are able to establish the strong convergence of the discrete solutions. Finally we present some numerical results.
Źródło:
Control and Cybernetics; 2011, 40, 4; 957-969
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A Mesh-Independence Principle for Quadratic Penalties Applied to Semilinear Elliptic Boundary Control
Autorzy:
Grossman, Christian
Winkler, Max
Powiązania:
https://bibliotekanauki.pl/articles/1373554.pdf
Data publikacji:
2012
Wydawca:
Uniwersytet Jagielloński. Wydawnictwo Uniwersytetu Jagiellońskiego
Tematy:
optimal boundary control
mesh-independence principle
penalty methods for control constraints
weakly nonlinear elliptic equations
Opis:
The quadratic loss penalty is a well known technique for optimization and control problems to treat constraints. In the present paper they are applied to handle control bounds in a boundary control problems with semilinear elliptic state equations. Unlike in the case of finite dimensional optimization for infinite dimensional problems the order of convergence could only be roughly estimated, but numerical experiments revealed a clearly better convergence behavior with constants independent of the dimension of the used discretization. The main result in the present paper is the proof of sharp convergence bounds for both, the finite und infinite dimensional problem with a mesh-independence in case of the discretization. Further, to achieve an efficient realization of penalty methods the principle of control reduction is applied, i.e. the control variable is represented by the adjoint state variable by means of some nonlinear function. The resulting optimality system this way depends only on the state and adjoint state. This system is discretized by conforming linear finite elements. Numerical experiments show exactly the theoretically predicted behavior of the studied penalty technique.
Źródło:
Schedae Informaticae; 2012, 21; 9-26
0860-0295
2083-8476
Pojawia się w:
Schedae Informaticae
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Regularity and stability of optimal controls of nonstationary Navier-Stokes equations
Autorzy:
Wachsmuth, D.
Powiązania:
https://bibliotekanauki.pl/articles/970093.pdf
Data publikacji:
2005
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
sterowanie optymalne
równanie Naviera-Stokesa
stabilność Lipschitza
optimal control
Navier-Stokes equations
control constraints
Lipschitz stability
Opis:
The regularity and stability of optimal controls of nonstationary Navier-Stokes equations are investigated. Under suitable assumptions every control satisfying first-order necessary conditions is shown to be a continuous function in both space and time. Moreover, the behaviour of a locally optimal control under certain perturbations of the cost functional and the state equation is investigated. Lipschitz stability is proven provided a second-order sufficient optimality condition holds.
Źródło:
Control and Cybernetics; 2005, 34, 2; 387-409
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Planning of collision-free trajectory for mobile manipulators
Autorzy:
Pająk, G.
Powiązania:
https://bibliotekanauki.pl/articles/265205.pdf
Data publikacji:
2013
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
mobilny manipulator
planowanie trajektorii
mobile manipulator
path following
trajectory planning
penalty function
control constraints
Opis:
A method of planning sub-optimal trajectory for a mobile manipulator working in the environment including obstacles is presented. The path of the end-effector is defined as a curve that can be parameterized by any scaling parameter, the reference trajectory of a mobile platform is not needed. Constraints connected with the existence of mechanical limits for a given manipulator configuration, collision avoidance conditions and control constraints are considered. The motion of the mobile manipulator is planned in order to maximize the manipulability measure, thus to avoid manipulator singularities. The method is based on a penalty function approach and a redundancy resolution at the acceleration level. A computer example involving a mobile manipulator consisting of a nonholonomic platform and a SCARA type holonomic manipulator operating in a two-dimensional task space is also presented.
Źródło:
International Journal of Applied Mechanics and Engineering; 2013, 18, 2; 475-489
1734-4492
2353-9003
Pojawia się w:
International Journal of Applied Mechanics and Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Optimal sparse boundary control for a semilinear parabolic equation with mixed control-state constraints
Autorzy:
Casas, Eduardo
Troltzsch, Fredi
Powiązania:
https://bibliotekanauki.pl/articles/970122.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
semilinear parabolic equation
optimal control
sparse boundary control
mixed control-state constraints
Opis:
A problem of sparse optimal boundary control for a semilinear parabolic partial differential equation is considered, where pointwise bounds on the control and mixed pointwise control-state constraints are given. A standard quadratic objective functional is to be minimized that includes a Tikhonov regularization term and the L1-norm of the control accounting for the sparsity. Applying a recent linearization theorem, we derive first-order necessary optimality conditions in terms of a variational inequality under linearized mixed control state constraints. Based on this preliminary result, a Lagrange multiplier rule with bounded and measurable multipliers is derived and sparsity results on the optimal control are demonstrated.
Źródło:
Control and Cybernetics; 2019, 48, 1; 89-124
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Collision-Free Trajectory Planning for Mobile Manipulators Subject to Control Constraints
Planowanie bezkolizyjnej trajektorii manipulatorów mobilnych przy ograniczeniach na sterowania
Autorzy:
Pajak, G.
Pajak, I.
Powiązania:
https://bibliotekanauki.pl/articles/139950.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
mobile manipulator
path following
trajectory planning
penalty function
control constraints
manipulator mobilny
planowanie trajektorii
funkcja kary
Opis:
A method of planning collision-free trajectory for a mobile manipulator tracking a line section path is presented. The reference trajectory of a mobile platform is not needed, mechanical and control constraints are taken into account. The method is based on a penalty function approach and a redundancy resolution at the acceleration level. Nonholonomic constraints in a Pfaffian form are explicitly incorporated to the control algorithm. The problem is shown to be equivalent to some point-to-point control problem whose solution may be easier determined. The motion of the mobile manipulator is planned in order to maximise the manipulability measure, thus to avoid manipulator singularities. A computer example involving a mobile manipulator consisting of a nonholonomic platform (2,0) class and a 3 DOF RPR type holonomic manipulator operating in a three-dimensional task space is also presented.
W pracy opisano tok postępowania podczas budowy modeli symulacyjnych z wykorzystaniem programu SolidWorks i Matlab/Simulink. Tworzenie modelu symulacyjnego przebiega etapami, to znaczy najpierw opracowywany jest model geometryczny w programie SolidWorks, następnie dzięki możliwości wymiany danych, model CAD jest implementowany w środowisku obliczeniowym Matlab/Simulink. Modele SimMechanics pozwalają na śledzenie wielu parametrów, np. trajektorii, prędkości, czy przyspieszeń dowolnych elementów układu złożonego. W pracy, jako przykłady modeli symulacyjnych opracowanych zgodnie z zaprezentowana metoda, pokazano modele laboratoryjnego żurawia samochodowego oraz żurawia leśnego. Modele te umożliwiają wizualizacje zadanego - za pomocą wymuszeń kinematycznych - cyklu pracy.
Źródło:
Archive of Mechanical Engineering; 2014, LXI, 1; 35-55
0004-0738
Pojawia się w:
Archive of Mechanical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Trajectory Planning for Mobile Manipulators with Control Constraints
Planowanie trajektorii dla manipulatorów mobilnych z ograniczeniami na sterowania
Autorzy:
Pająk, Grzegorz
Pająk, Iwona
Powiązania:
https://bibliotekanauki.pl/articles/27312424.pdf
Data publikacji:
2023
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
mobile robots
trajectory planning
state constraints
control constraints
obstacle avoidance
roboty mobilne
planowanie trajektorii
ograniczenia na stan
ograniczenia na sterowanie
unikanie kolizji
Opis:
This paper presents the method of trajectory planning for mobile manipulators considering limitations resulting from capabilities of robotic system actuators. The fulfillment of control constraints is achieved by introducing virtual control scaling of the robot trajectory in the limited periods of time. Such an approach allows researchers to obtain the trajectories fulfilling control constraints without significantly increasing the time of task execution. The proposed method generates sub-optimal trajectories maximizing the manipulability measure of the robot arm, preserves mechanical and collision avoidance limitations and can be used in real-time trajectory planning. The effectiveness of the presented solution is confirmed by computer simulations involving a mobile manipulator with parameters corresponding to KUKA youBot.
W pracy przedstawiono metodę planowania trajektorii dla manipulatorów mobilnych uwzględniającą ograniczenia wynikające z możliwości układów napędowych robota. Spełnienie ograniczeń na sterowana zostało osiągnięte poprzez wprowadzenie wirtualnego sterowania skalującego trajektorię robota w ograniczonych przedziałach czasu. Takie podejście pozwoliło na uzyskanie trajektorii spełniających ograniczenia na sterowania bez znaczącego wydłużenia czasu realizacji zadania. Zaproponowana metoda generuje sub-optymalne trajektorie maksymalizując miarę manipulowalności ramienia robota, zachowuje ograniczenia mechaniczne oraz warunki unikania kolizji i może być zastosowana do planowania trajektorii w czasie rzeczywistym. Skuteczność zaproponowanego rozwiązania została potwierdzona symulacjami komputerowymi wykonanymi z użyciem mobilnego manipulatora o parametrach odpowiadających robotowi KUKA youBot.
Źródło:
Pomiary Automatyka Robotyka; 2023, 27, 2; 21--30
1427-9126
Pojawia się w:
Pomiary Automatyka Robotyka
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Local quadratic convergence of SQP for elliptic optimal control problems with mixed control-state constraints
Autorzy:
Griesse, R.
Metla, N.
Rosch, A.
Powiązania:
https://bibliotekanauki.pl/articles/969868.pdf
Data publikacji:
2010
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
optimal control
sequential quadratic programming
mixed control-state constraints
implicit function theorem
generalized equation
Opis:
Semilinear elliptic optimal control problems with pointwise control and mixed control-state constraints are considered. Necessary and sufficient optimality conditions are given. The equivalence of the SQP method and Newton's method for a generalized equation is discussed. Local quadratic convergence of the SQP method is proved.
Źródło:
Control and Cybernetics; 2010, 39, 3; 717-738
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Analysis of the Lagrange-SQP-Newton method for the control of a phase field equation
Autorzy:
Heinkenschloss, M.
Troeltzsch, F.
Powiązania:
https://bibliotekanauki.pl/articles/206519.pdf
Data publikacji:
1999
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
równania paraboliczne
równania różniczkowe
stabilność
sterowanie optymalne
control constraints
Lagrange-SQP-Newton method
optimal control
phase field equation
programming method
sequential quadratic
Opis:
This paper investigates the local convergence of the Lagrange-SQP-Newton method applied to an optimal control problem governed by a phase field equation with distributed control. The phase field equation is a system of two semilinear parabolic differential equations. Stability analysis of optimization problems and regularity results for parabolic differential equations are used to proof convergence of the controls with respect to the L[sup 2](Q) norm and with respect to the L[sup infinity](Q) norm.
Źródło:
Control and Cybernetics; 1999, 28, 2; 177-211
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Adaptive, nonlinear state transformation-based control of motion in presence of hard constraints
Autorzy:
Kabziński, J.
Mosiołek, P.
Powiązania:
https://bibliotekanauki.pl/articles/201256.pdf
Data publikacji:
2020
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
motion control
nonlinear control
adaptive control
state constraints
Opis:
The paper describes a nonlinear controller design technique applied to a servo drive in the presence of hard state constraints. The approach presented is based on nonlinear state-space transformation and adaptive backstepping. It allows us to impose hard constraints on the state variables directly and to achieve asymptotic tracking of any reference trajectory inside the constraints, despite unknown plant parameters. Two control schemes (with and without integral action) are derived, investigated and then compared. Several examples demonstrate the main features of the design procedure and prove that it may be applied in case of motion control problems in electric drive automation.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2020, 68, 5; 963--971
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
An itae optimal sliding mode controller for systems with control signal and velocity limitations
Autorzy:
Pietrala, Mateusz
Leśniewski, Piotr
Bartoszewicz, Andrzej
Powiązania:
https://bibliotekanauki.pl/articles/2204689.pdf
Data publikacji:
2023
Wydawca:
Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:
sliding mode control
optimal control
state constraints
Opis:
In this paper, a sliding mode controller, which can be applied for second-order systems, is designed. Robustness to external disturbances, finite regulation time and a good system’s behaviour are required for a sliding mode controller. In order to achieve the first two of these three goals, a non-linear, time-varying switching curve is introduced. The representative point (state vector) belongs to this line from the very beginning of the control process, which results in elimination of the reaching phase. The stable sliding motion along the switching curve is provided. Natural limitations such as control signal and system’s velocity constraints will be taken into account. In order to satisfy them, the sliding line parameters will be properly selected. However, a good dynamical behaviour of the system has to be provided. In order to achieve that, the integral time absolute error (ITAE) quality index will be introduced and minimised. The simulation example will verify theoretical considerations.
Źródło:
Acta Mechanica et Automatica; 2023, 17, 2; 230--238
1898-4088
2300-5319
Pojawia się w:
Acta Mechanica et Automatica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Control error dynamic modification as an efficient tool for reduction of effects introduced by actuator constraints
Autorzy:
Janiszowski, K. B.
Powiązania:
https://bibliotekanauki.pl/articles/907663.pdf
Data publikacji:
2009
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie cyfrowe
regulacja PID
wind-up
actuator constraints
digital dead-beat control
PID control
rate constraints
state-space control
saturations at control
Opis:
A modification of digital controller algorithms, based on the introduction of a virtual reference value, which never exceeds active constraints in the actuator output is presented and investigated for some algorithms used in single-loop control systems. This idea, derived from virtual modification of a control error, can be used in digital control systems subjected to both magnitude and rate constraints. The modification is introduced in the form of on-line adaptation to the control task. Hence the design of optimal (in a specified sense) digital controller parameters can be separated from actuator constraints. The adaptation of the control algorithm (to actuator constraints) is performed by the transformation of the control error and is equivalent to the introduction of a new, virtual reference value for the control system. An application of this approach is presented through examples of three digital control algorithms: the PID algorithm, the dead-beat controller and the state space controller. In all cases, clear advantages of transients are observed, which yields some general conclusions to the problem of processing actuator constraints in control.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2009, 19, 2; 271-279
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On the regularization error of state constrained Neumann control problems
Autorzy:
Krumbiegel, K.
Rosch, A.
Powiązania:
https://bibliotekanauki.pl/articles/969594.pdf
Data publikacji:
2008
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
optimal control
elliptic equation
state constraints
boundary control
regularization
virtual control
Opis:
A linear elliptic optimal control problem with point-wise state constraints in the interior of the domain is considered. Furthermore, the control is given on the boundary with associated constraints. An artificial distributed control is introduced in the cost functional, in the state equation and in the state constraints. Since there are no control constraints for the artificial control, efficient numerical methods can be easily established. Based on a possible violation of the pure pointwise state constraints, an error estimate for the regularization error is derived. The theoretical results are illustrated by numerical tests.
Źródło:
Control and Cybernetics; 2008, 37, 2; 369-392
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 58

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