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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
Tytuł:
Deployment of a predictive-like optimal control law on a servo drive system using linear programming approach
Autorzy:
Horla, Dariusz
Pinczewski, Piotr
Powiązania:
https://bibliotekanauki.pl/articles/27309954.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
constraints
linear programming
optimal control
servo drive
Opis:
Current drive control systems tend to push control loops to the limits of their performance. One of the ways of doing so is to use advanced optimization algorithms, usually related to model-based off-line calculations, such as genetic algorithms, the particle swarmoptimisation or the others. There is, however, a simpler way, namely to use predictive control formalism and by formulation of a simple linear programming problem which is easy to solve using powerful solvers, without excessive computational burden, what is a reliable solution, as whenever the optimization problem has a feasible solution, a global minimizer can be efficiently found. This approach has been deployed for a servo drive system operated by a real-time sampled-data controller, verified between model-in-the-loop and hardwarein- the-loop configurations, for a range of prediction horizons, as an attractive alternative to classical quadratic programming-related formulation of predictive control task.
Źródło:
Archives of Electrical Engineering; 2023, 72, 4; 1005--1016
1427-4221
2300-2506
Pojawia się w:
Archives of Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Comparative Simulation of the Production Flow with the Implementation of Kanban and DBR
Autorzy:
Tomaszewska, Klaudia
Powiązania:
https://bibliotekanauki.pl/articles/24200493.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
modeling
control optimization
real-time control
process control
lean manufacturing
theory of constraints
Opis:
Currently, we live in a culture of being overly busy, but this does not translate into efficiency, speed of implementation of the actions taken. Enterprises are constantly looking for methods and tools to make them more efficient. The most popular method of production management is Lean Manufacturing, less known is Theory of Constraints. This work is a continuation of the research on the comparison of these methods with apply a computer simulation, which the analyzed production process in the selected enterprise, after 24 hours and week. An attempt was made to simplify the comparison of the methods based on the obtained simulation in terms of costs. In analyzed case, more advantageous solution is to use the DBR method. To produce various orders that do not require 100% production on the bottleneck position, the use of Kanban is a frequent practice as it provides greater flexibility in order execution.
Źródło:
Management and Production Engineering Review; 2023, 14, 2; 79--87
2080-8208
2082-1344
Pojawia się w:
Management and Production Engineering Review
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Servo constraint control for mechanical systems: friction force depending on control design
Autorzy:
Huang, Qingmin
Huang, Jin
Powiązania:
https://bibliotekanauki.pl/articles/1839670.pdf
Data publikacji:
2021
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
mechanical systems
modeling
non-ideal constraints
motion control
Opis:
In this paper, the problem of motion of controlled mechanical systems under a servo constraint is considered. The servo constraint which is prescribed by the designer is supposed to be non-ideal, that is, it does work in a virtual displacement. The second order form constraint is introduced to obtain a closed-form (i.e., analytical form) control input. The final servo control contains two parts: the first one generates the constraint force so that the constraint is exactly followed, while the second one can be designed by the designer for the facility, such as to compensate the effects of the friction force. After geometrical analysis applied to the Coulomb friction forces, we found that they actually depend on the control forces (i.e., the two are coupled). Application to a 3-DOF robot manipulator is made.
Źródło:
Journal of Theoretical and Applied Mechanics; 2021, 59, 3; 413-430
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On some new phenomena in state-constrained optimal control if ODEs as well as PDEs are involved
Autorzy:
Pesch, H. J.
Rund, A.
Wahl, V.
Wendl, S.
Powiązania:
https://bibliotekanauki.pl/articles/969885.pdf
Data publikacji:
2010
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
optimal control of partial differential equations
ODE-PDE-constrained optimization
state constraints
non-local state-constraints
integro-state constraints
optimal control problems for integro-differential equations
jump conditions
Opis:
In this paper we investigate a new class of optimal control problems with ODE as well as PDE constraints. We would like to call them "hypersonic rocket car problems", since they were inspired, on the one hand, by the well known rocket car problem from the early days of ODE optimal control, on the other hand by a recently investigated flight path trajectory optimization problem for a hypersonic aircraft. The hypersonic rocket car problems mimic the latter's coupling structure, yet in a strongly simplified form. They can therefore be seen as prototypes of ODE-PDE control problems. Due to their relative simplicity they allow to a certain degree to obtain analytical solutions and insights into the structure of the adjoints, which would currently be unthinkable with complex real life problems. Our main aim is to derive and verify the necessary optimality conditions. Most of the obtained results bear a lot of similarities with state constrained ODE optimal control problems, yet we also observed some new phenomena.
Źródło:
Control and Cybernetics; 2010, 39, 3; 647-660
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Two Extensions of Trust Management Languages
Autorzy:
Felkner, Anna
Powiązania:
https://bibliotekanauki.pl/articles/307850.pdf
Data publikacji:
2020
Wydawca:
Instytut Łączności - Państwowy Instytut Badawczy
Tematy:
access control
conditional credentials
inference system with time constraints
Opis:
This article is focused on the family of role-based trust management languages (RT). Trust management languages are a useful method of representing security credentials and policies in large distributed access control mechanisms. They provide sets of credentials that are assigned to individual roles performed by the specific entities. These credentials provide relevant information about security policies issued by trusted authorities and define user permissions. RT languages describe the individual entities and the roles that these entities play in a given environment. A set of credentials representing a given security policy defines which entity has the necessary rights to access a specific resource and which entity does not have such rights. This study presents the results of research focusing on the potential of the family of RT languages. Its purpose is to show how security policies may be applied more widely by applying an inference system, and then using the extensions of the credentials, by taking into account time-related information or the conditions imposed with regard to the validity of such credentials. Each of these extensions can be used jointly or separately, offering even a wider range of opportunities.
Źródło:
Journal of Telecommunications and Information Technology; 2020, 1; 87-94
1509-4553
1899-8852
Pojawia się w:
Journal of Telecommunications and Information Technology
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On the Constrained Controllability of Dynamical Systems With Multiple Delays in the State
Autorzy:
Sikora, B.
Powiązania:
https://bibliotekanauki.pl/articles/908099.pdf
Data publikacji:
2003
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
matematyka
delay systems
constrained controllability
control
constraints
asymptotic stability
Opis:
Linear stationary dynamical systems with multiple constant delays in the state are studied. Their relative and approximate controllability properties with constrained controls are discussed. Definitions of various types of controllability with constrained controls for systems with delays in the state are introduced. Some theorems concerning the relative and the approximate relative controllability with constrained controls for dynamical systems with delays in the state are established. Various types of constraints are considered. Numerical examples illustrate the theoretical analysis. An example of a real technical dynamical system is given to indicate one of possible practical applications of the theoretical results.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2003, 13, 4; 469-479
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Normality of the maximum principle for absolutely continuous solutions to Bolza problems under state constraints
Autorzy:
Frankowska, H.
Powiązania:
https://bibliotekanauki.pl/articles/970777.pdf
Data publikacji:
2009
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
optimal control
maximum principle under state constraints
normal necessary conditions
Opis:
It is well known that for a Bolza optimal control problem under state constraints every local minimizer satisfies a constrained maximum principle which may be degenerate. In the recent years several researchers proposed sufficient conditions for its nondegeneracy, e.g. Arutyanov and Assev (1997), Rampazzo and Vinter (1999, 2000), Galbraith and Vinter (2003). In all these papers the most important assumption links dynamics of a control system with tangent cones to constraints. It is the so called inward pointing condition of control theory that is in the same spirit with the well known Slater and Managasarian-Fromowitz conditions of mathematical programming. We propose here two sufficient conditions for normality when the boundary of constraints is C1 and the end point is free. The first one applies to every nondegenerate maximum principle without any assumptions on the initial state. The second one applies to every maximum principle, but involves an additional assumption on the initial conditions.
Źródło:
Control and Cybernetics; 2009, 38, 4B; 1327-1340
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Revisiting the analysis of optimal control problems with several state constraints
Autorzy:
Bonnans, J. F.
Hermant, A.
Powiązania:
https://bibliotekanauki.pl/articles/970908.pdf
Data publikacji:
2009
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
optimal control
state constraints
shooting algorithm
second order optimality conditions
Opis:
This paper improves the results of and gives shorter proofs for the analysis of state constrained optimal control problems than presented by the authors in Bonnans and Hermant (2009b), concerning second order optimality conditions and the well-posedness of the shooting algorithm. The hypothesis for the second order necessary conditions is weaker, and the main results are obtained without reduction to the normal form used in that reference, and without analysis of high order regularity results for the control. In addition, we provide some numerical illustration. The essential tool is the use of the "alternative optimality system".
Źródło:
Control and Cybernetics; 2009, 38, 4A; 1021-1052
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Approximation of optimal control problems with bound constraints by control parameterization
Autorzy:
Alt, W.
Powiązania:
https://bibliotekanauki.pl/articles/970516.pdf
Data publikacji:
2003
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
sterowanie optymalne nieliniowe
metoda Newtona
nonlinear optimal control
bound constraints
Newton's method
control parameterization
Opis:
We consider nonlinear optimal control problems with bound constraints for the controls. Under the assumption that the optimal control is continuous and has finitely many smooth boundary arcs, we show that the system of optimahty conditions can be reduced to a system of operator equations. Based on this system we investigate convergence of approximations by control parameterization.
Źródło:
Control and Cybernetics; 2003, 32, 3; 451-472
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Error estimates for the finite element discretization of semi-infinite elliptic optimal control problems
Autorzy:
Merino, Pedro
Neitzel, Ira
Tröltzsch, Fredi
Powiązania:
https://bibliotekanauki.pl/articles/729230.pdf
Data publikacji:
2010
Wydawca:
Uniwersytet Zielonogórski. Wydział Matematyki, Informatyki i Ekonometrii
Tematy:
elliptic optimal control problem
state constraints
error estimates
finite element discretization
Opis:
In this paper we derive a priori error estimates for linear-quadratic elliptic optimal control problems with finite dimensional control space and state constraints in the whole domain, which can be written as semi-infinite optimization problems. Numerical experiments are conducted to ilustrate our theory.
Źródło:
Discussiones Mathematicae, Differential Inclusions, Control and Optimization; 2010, 30, 2; 221-236
1509-9407
Pojawia się w:
Discussiones Mathematicae, Differential Inclusions, Control and Optimization
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Self-Tuning Generalized Predictive Control With Input Constraints
Autorzy:
Królikowski, A.
Jerzy, D.
Powiązania:
https://bibliotekanauki.pl/articles/908330.pdf
Data publikacji:
2001
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
samostrojenie
sterowanie
generalized predictive control
constraints
self-tuning
ARIMAX/ARMAX systems
Opis:
The handling of various input constraints in the self-tuning generalized predictive control (STGPC) problem of ARIMAX/ARMAX systems is considered. The methods based on the Lagrange multipliers and Lemke's algorithm are used to solve the constrained optimization problem. A self-tuning controller is implemented in an indirect way, and the considered constraints imposed on the control input signal are of the rate, amplitude and energy types. A comparative simulation study of self-tuning control system behaviour is given with respect to the design parameters and constraints. The stability of a closed-loop control system is analyzed and the computational loads of both the methods are compared.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2001, 11, 2; 459-479
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust multisensor fault tolerant model-following MPC design for constrained systems
Autorzy:
Yetendje, A.
Seron, M. M.
De Doná, J. A.
Powiązania:
https://bibliotekanauki.pl/articles/331458.pdf
Data publikacji:
2012
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie tolerujące uszkodzenia
odporność
ograniczenie
fault tolerant control
constraints
robustness
invariant set
Opis:
In this paper, a robust fault-tolerant control strategy for constrained multisensor linear systems, subject to sensor faults and in the presence of bounded state and output disturbances, is proposed. The scheme verifies that, for each sensors-estimator combination, suitable residual variables lie inside pre-computed sets and selects a more appropriate combination based on a chosen criterion. An active fault tolerant output feedback controller yields an MPC-based control law and, by means of the notion of a "tube" of trajectories, we ensure robust closed-loop exponential stability and good performance in the fault-free case and under the occurrence of abrupt sensor faults.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2012, 22, 1; 211-223
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Stability analysis of relaxed Dirichlet boundary control problems
Autorzy:
Arada, N.
Raymond, J.
Powiązania:
https://bibliotekanauki.pl/articles/206117.pdf
Data publikacji:
1999
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
pomiary Younga
relaksacja
sterowanie
control problems
Dirichlet boundary control
pointwise state constraints
relaxation
stability properties
Young measures
Opis:
We study the relaxation by Young measures of a Dirichlet control problem with pointwise state constraints. We give a necessary and sufficient condition for the properness of the relaxation. This condition is expressed in terms of stability properties, for the original control problem, with respect to geometrical perturbations of state constraints.
Źródło:
Control and Cybernetics; 1999, 28, 1; 35-51
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Sensitivity analysis for state constrained optimal control problems
Autorzy:
Malanowski, K.
Powiązania:
https://bibliotekanauki.pl/articles/206110.pdf
Data publikacji:
2011
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
sensitivity analysis
cone-constrained optimization problems
nonlinear optimal control
first order state constraints
Opis:
A sensitivity result for cone-constrained optimization problem in abstract Hilbert spaces is obtained, using a slight modification of Haraux's theorem on differentiability of the metric projection onto polyhedric sets. This result is applied to sensitivity analysis for nonlinear optimal control problems subject to first order state constraints.
Źródło:
Control and Cybernetics; 2011, 40, 4; 1043-1058
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Second-order optimality conditions for semilinear elliptic control problems with constraints on the gradient of the state
Autorzy:
Casas, E.
Fernandez, J.
Mateos, M.
Powiązania:
https://bibliotekanauki.pl/articles/206719.pdf
Data publikacji:
1999
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
sterowanie optymalne
optimal control
second order conditions
semilinear elliptic PDE
state gradient constraints
Opis:
The aim of this paper is to state the second order necessary and sufficient optimality conditions for distributed control problems governed by the Neumann problem associated to a semilinear elliptic partial differential equation. Bound constraints ou control are considered, as well as equality and inequality constraints of integral type on the gradient of the state.
Źródło:
Control and Cybernetics; 1999, 28, 3; 463-479
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
About one problem of optimal stochastic control of the modes of operation of water mains
Autorzy:
Tevyashev, A.
Matviyenko, O.
Powiązania:
https://bibliotekanauki.pl/articles/410919.pdf
Data publikacji:
2015
Wydawca:
Polska Akademia Nauk. Oddział w Lublinie PAN
Tematy:
optimal stochastic control
probabilistic constraints on the phase variables
water main
pumping station
Opis:
The problem of increasing of the efficiency of operation of the water mains in modern conditions while the transition to a three-tier tariff for the electricity is examined in the present work. An effective method for solving this problem, based on the use of specific features of the water mains as stochastic objects operating in the stochastic environment is offered. The mathematical formulation of the problems of optimal stochastic control of the modes of operation of the water main with probabilistic constraints on the phase variables is presented. A new strategy for the optimal stochastic control of the modes of operation of the water main, the use of which has allowed to develop an effective method for solving the examined problem is proposed in the present work. It is shown that the transition from the classical deterministic problems of control of the modes of operation of the water mains to stochastic ones, provides a significant (up 9%) decrease of financial expenses for the electricity.
Źródło:
ECONTECHMOD : An International Quarterly Journal on Economics of Technology and Modelling Processes; 2015, 4, 3; 3-12
2084-5715
Pojawia się w:
ECONTECHMOD : An International Quarterly Journal on Economics of Technology and Modelling Processes
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Wzrost efektywności przepływu produkcji poprzez zmianę systemu planowania i sterowania produkcją
Increasing of production efficiency through change the system of production planning and control
Autorzy:
Żywicki, K.
Trojanowska, J.
Powiązania:
https://bibliotekanauki.pl/articles/269447.pdf
Data publikacji:
2013
Wydawca:
Wrocławska Rada Federacji Stowarzyszeń Naukowo-Technicznych
Tematy:
planowanie
sterowanie
system ssący
teoria ograniczeń
produkcja
planning
control
theory of constraints
production
Opis:
Artykuł dotyczy wpływu metod sterowania produkcją na efektywność przepływu produkcji. Przedstawione rozwiązanie dotyczy opracowanego i wdrożonego w przedsiębiorstwie produkcyjnym systemu, uwzględniającego specyfikę produkcyjną firmy związaną ze strukturą zamówień i uwarunkowaniami wewnętrznymi. Podstawą opracowania rozwiązań tworzących system było wykorzystanie różnych dostępnych metod sterowania produkcją. Niniejszy artykuł jest związany z realizacją projektu celowego dotyczącego opracowania i wdrożenia do praktyki przemysłowej sytemu sterowania produkcją. W wyniku przyjętych rozwiązań uzyskano wzrost efektywności przepływu produkcji poprzez zmniejszenie czasu przejścia materiału oraz zapasów międzyoperacyjnych w procesach wytwórczych.
The article concerns the impact of methods of production flow control to the efficiency of production flow. Described solution shows developed and implemented system taking into account the specificity of the system of production orders related to the structure and internal circumstances.The basis for the development of solutions to create the system was to use different available methods to control production. Paper shown material related to the implementation of a project of development and implementation production control system dedicated to DOMEX Ltd. The main result of presented solutions is an increase the efficiency of the production flow by reducing lead time and work in progress in manufacturing processes.
Źródło:
Inżynieria Maszyn; 2013, R. 18, z. 1; 71-83
1426-708X
Pojawia się w:
Inżynieria Maszyn
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Noise sensitivity of selected kinematic path following controllers for a unicycle
Autorzy:
Libal, U.
Płaskonka, J.
Powiązania:
https://bibliotekanauki.pl/articles/200552.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
wheeled mobile robots
path following
Serret-Frenet frame
model-based control
nonlinear control systems
nonholonomic constraints
probabilistic robotics
Opis:
In the paper a path following problem for a wheeled mobile robot of (2,0) type has been considered. The kinematic model of the robot was derived with respect to the Serret-Frenet frame. Two kinematic control algorithms - Samson and Morin-Samson - have been tested taking into account their sensitivity to a white noise with a zero mean appearing in the one of state variables. The properties of path following errors have been analysed using statistical techniques. The conclusions related to an acceptable level of noise and a range of applicability of the presented algorithms have been reached.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2014, 62, 1; 3-13
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A computationally efficient stable dual-mode type nonlinear predictive control algorithm
Autorzy:
Ławryńczuk, M.
Tadej, W.
Powiązania:
https://bibliotekanauki.pl/articles/971003.pdf
Data publikacji:
2008
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
linearyzacja
optymalizacja
stabilność
nonlinear model predictive control
dual-mode model predictive control
process control
linearisation
optimisation
quadratic programming
stability
constraints
terminal set
Opis:
This paper describes a computationally efficient (sub-optimal) nonlinear predictive control algorithm. The algorithm uses a modified dual-mode approach which guarantees closed-loop stability. In order to reduce the computational burden, instead of online nonlinear optimisation used in the classical dual-mode control scheme, a nonlinear model of the plant is linearised on-line and a quadratic programming problem is solved. Calculation of the terminal set and implementation steps of the algorithm are detailed, especially for input-output models, which are widely used in practice.
Źródło:
Control and Cybernetics; 2008, 37, 1; 99-132
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
About one class of the problems of optimal stochastic control of hybrid dynamical systems
Autorzy:
Tevyashev, A.
Matviyenko, O.
Powiązania:
https://bibliotekanauki.pl/articles/410934.pdf
Data publikacji:
2016
Wydawca:
Polska Akademia Nauk. Oddział w Lublinie PAN
Tematy:
optimal stochastic control
hybryd dynamical systems
probabilistic constraints on the chase variables
water main
Opis:
A new class of the problems of optimal stochastic control of hybrid dynamical systems different from well-known ones by the introduction of additional extreme and probabilistic constraints on the phase variables is studied in the present work. The mathematical formulation and approximate method of solution of the examined class of the problems are presented in this work. The effectiveness of the use of this class of the problems is illustrated on the example of one of the largest water main of Ukraine.
Źródło:
ECONTECHMOD : An International Quarterly Journal on Economics of Technology and Modelling Processes; 2016, 5, 4; 3-10
2084-5715
Pojawia się w:
ECONTECHMOD : An International Quarterly Journal on Economics of Technology and Modelling Processes
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Dynamic Modification of Reference Value for Reduction of Negative Effects of Actuator Constraints in Single-loop PID Control Systems
Dynamiczna modyfikacja wartości zadanej w celu redukcji negatywnego wpływu ograniczeń elementu wykonawczego w jedno-obwodowych układach regulacji PID
Autorzy:
Janiszowski, K.
Powiązania:
https://bibliotekanauki.pl/articles/154448.pdf
Data publikacji:
2009
Wydawca:
Stowarzyszenie Inżynierów i Techników Mechaników Polskich
Tematy:
cyfrowe algorytmy PID
ograniczenia elementu wykonawczego
wind-up
actuator constraints
digital PID control algorithm
Opis:
A modification of the PID digital controller algorithm, based on the introduction of a virtual reference value that never exceed active constraints in the actuator output is presented and investigated. This idea derived from virtual modification of a control error can be used in digital control systems subjected by both: magnitude and rate constraints. The adaptation (to the actuator constraints) is performed by a special transformation of the control error, and is equivalent to introduction of a new, virtual reference value for the control system. Simulation results for dynamic, linear SISO systems are presented for comparison of the proposed approach with used techniques.
W pracy zostala przedstawiona modyfikacja działania cyfrowego algorytmu PID, oparta na wprowadzeniu dynamicznie zmiennej wartości zadanej, która nie prowadzi do przekroczenia ograniczeń możliwości elementu wykonawczego. Metoda jest oparta na dynamicznej modyfikacji odchyłki regulacji i może być stosowana w układach regulacji o ograniczeniach amplitudy i prędkości zmian zespołu wykonawczego. Adaptacja układu (do ograniczeń aktuatora) jest równoważna dynamicznej modyfikacji wartości zadanej. Wyniki badań symulacyjnych, porównujące efekty działania metody z innymi modyfikacjami stosowanymi dla algorytmu PID są zaprezentowane dla dwóch liniowych układów dynamicznych.
Źródło:
Pomiary Automatyka Kontrola; 2009, R. 55, nr 3, 3; 170-173
0032-4140
Pojawia się w:
Pomiary Automatyka Kontrola
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A characterization of stability and sensitivity properties for state-constrained optimal control
Autorzy:
Malanowski, K.
Powiązania:
https://bibliotekanauki.pl/articles/970245.pdf
Data publikacji:
2007
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
sterowanie optymalne
optimal control
nonlinear ODEs
state constraints
parametric problems
stability and sensitivity analysis
Opis:
In a series of the recent papers of the author, it was shown that the solutions and Lagrange multipliers of state-constrained optimal control problems are locally Lipschitz continuous and directionally differentiable functions of the parameter, under usual constraint qualifications and weakened second order conditions. In this paper, it is shown that those conditions are not only sufficient, but also necessary. Thus, they consitute a characterization of Lipschitz stability and sensitivity properties for state-constrained optimal control problems.
Źródło:
Control and Cybernetics; 2007, 36, 3; 711-726
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Heating control of a finite rod with a mobile source
Autorzy:
Jilavyan, Samvel H.
Grigoryan, Edmon R.
Khurshudyan, Asatur Zh.
Powiązania:
https://bibliotekanauki.pl/articles/1409386.pdf
Data publikacji:
2021
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
null-controllability
mobile control
nonlinear constraints
triangular wave
rectangular wave
Green’s function approach
heuristic control
lack of exact controllability
Opis:
The Green’s function approach is applied for studying the exact and approximate null-controllability of a finite rod in finite time by means of a source moving along the rod with controllable trajectory. The intensity of the source remains constant. Applying the recently developed Green’s function approach, the analysis of the exact null-controllability is reduced to an infinite system of nonlinear constraints with respect to the control function. A sufficient condition for the approximate null-controllability of the rod is obtained. Since the exact solution of the system of constraints is a long-standing open problem, some heuristic solutions are used instead. The efficiency of these solutions is shown on particular cases of approximate controllability.
Źródło:
Archives of Control Sciences; 2021, 31, 2; 417-430
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Matlab implementation of direct and indirect shooting methods to solve an optimal control problem with state constraints
Autorzy:
Karbowski, Andrzej
Powiązania:
https://bibliotekanauki.pl/articles/1837359.pdf
Data publikacji:
2021
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
optimal control
numerical methods
state constraints
shooting method
multiple shooting method
boundary value problem
MATLAB
Opis:
The paper presents a general procedure to solve nume‐ rically optimal control problems with state constraints. It is used in the case, when the simple time discretization of the state equations and expressing the optimal cont‐ rol problem as a nonlinear mathematical programming problem is too coarse. It is based on using in turn two multiple shooting BVP approaches: direct and indirect. The paper is supplementary to the earlier author’s paper on direct and indirect shooting methods, presenting the theory underlying both approaches. The same example is considered here and brought to an end, that is two full listings of two MATLAB codes are shown.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2021, 15, 1; 43-50
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Error estimates for the finite-element approximation of an elliptic control problem with pointwise state and control constraints
Autorzy:
Meyer, C.
Powiązania:
https://bibliotekanauki.pl/articles/971011.pdf
Data publikacji:
2008
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
równanie eliptyczne
aproksymacja numeryczna
linear quadratic optimal control problems
elliptic equations
state constraints
numerical approximation
Opis:
We consider a linear-quadratic elliptic optimal control problem with pointwise state constraints. The problem is fully discretized using linear ansatz functions for state and control. Based on a Slater-type argument, we investigate the approximation behavior for mesh size tending to zero. The obtained convergence order for the L²-error of the control and for H 1-error of the state is 1 - ε in the two-dimensional case and 1/2 - ε in three dimensions, provided that the domain satisfies certain regularity assumptions. In a second step, a state-constrained problem with additional control constraints is considered. Here, the control is discretized by constant ansatz functions. It is shown that the convergence theory can be adapted to this case yielding the same order of convergence. The theoretical findings are confirmed by numerical examples.
Źródło:
Control and Cybernetics; 2008, 37, 1; 51-83
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Optimality conditions for state-constrained PDE control problems with time-dependent controls
Autorzy:
Los Reyes, J. C. de
Merino, P.
Rehberg, F.
Troltzsch, F.
Powiązania:
https://bibliotekanauki.pl/articles/971009.pdf
Data publikacji:
2008
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
równanie paraboliczne
równanie eliptyczne
sterowanie optymalne
parabolic equation
elliptic equation
optimal control
pointwise state constraints
sufficient optimality conditions
restricted control class
Opis:
The paper deals with optimal control problems for semilinear elliptic and parabolic PDEs subject to pointwise state constraints. The main issue is that the controls are taken from a restricted control space. In the parabolic case, they are Rm -vector-valued functions of time, while they are vectors of Rm in elliptic problems. Under natural assumptions, first- and second-order sufficient optimality conditions are derived. The main result is the extension of second-order sufficient conditions to semilinear parabolic equations in domains of arbitrary dimension. In the elliptic case, the problems can be handled by known results of semi-infinite optimization. Here, different examples are discussed that exhibit different forms of active sets and where second-order sufficient conditions are satisfied at the optimal solution.
Źródło:
Control and Cybernetics; 2008, 37, 1; 5-38
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Dynamics and control of rotary cranes executing a load prescribed motion
Dynamika i sterowanie żurawiem wieżowym realizującym zadany ruch ładunku
Autorzy:
Blajer, W.
Kołodziejczyk, K.
Powiązania:
https://bibliotekanauki.pl/articles/280736.pdf
Data publikacji:
2006
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
manewrowanie ruchem ładunku
sterowanie żurawiem
żurawie wieżowe
ruch ładunku
rotary cranes
inverse dynamics control
servo-constraints
Opis:
Manipulating payloads with rotary cranes is challenging due to the underactuated nature of a system in which the number of control inputs/outputs is smaller than the number of degrees-of-freedom. In this paper, the outputs (specified in time load coordinates) lead to servo-constraints on the system. A specific methodology is then developed to solve the arising inverse dynamics problem. Governing equations are derived as a set of index three differential-algebraic equations in state variables and control inputs. An effective numerical code for solving the equations, based on the backward Euler method, is proposed. A feedforward control law obtained this way is then enhanced by a closed-loop control strategy with feedback of actual errors in the load position to provide stable tracking of the required reference load trajectory in presence of perturbations. Some results of numerical simulations are provided.
Manewrowanie ruchem ładunku przez żurawie wieżowe jest zadaniem trudnym między innymi ze względu na fakt, że liczba kanałów sterowania (równa liczbie regulowanych współrzędnych ładunku) jest mniejsza od liczby stopni swobody żurawia. W pracy zadane w czasie współrzędne ładunku prowadzą do sformułowania serwowięzów (więzów programowych) nakładanych na ruch układu. Prezentowana jest następnie metoda rozwiązania tego szczególnego zadania symulacji dynamicznej odwrotnej jako zadania ruchu programowego niezupełnego. Równania ruchu programowego formułowane są w postaci układu równań różniczkowo-algebraicznych o indeksie trzy, względem zmiennych stanu i parametrów sterowania żurawiem. Proponowana jest prosta i skuteczna metoda numerycznego całkowania tych równań, wykorzystująca schemat Eulera różnic skończonych wstecznych. Otrzymane tą drogą sterowanie nominalne uzupełniane jest następnie sterowaniemw układzie zamkniętym zapewniającym stabilną realizację programowego ruchu ładunku w warunkach ruchu zaburzonego i nieścisłości modelowania matematycznego. Prezentowane są wybrane wyniki numerycznej symulacji ruchu i sterowania żurawiem realizującym zadany ruch ładunku.
Źródło:
Journal of Theoretical and Applied Mechanics; 2006, 44, 4; 929-948
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Exact penalization of pointwise constraints for optimal control problems
Autorzy:
Casas, E.
Powiązania:
https://bibliotekanauki.pl/articles/970884.pdf
Data publikacji:
2009
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
optimal control
semilinear elliptic equations
pointwise state constraints
exact penalization
first and second order optimality conditions
Opis:
In this paper we consider a control problem governed by a semilinear elliptic equation with pointwise control and state constraints. We analyze the existence of an exact penalization of the state constraints. In particular, we prove that the first and second order optimality conditions imply the existence of such a penalization. Finally, we prove some extra regularity of the strict local minima of the control problem, assuming the existence of an exact penalization for them.
Źródło:
Control and Cybernetics; 2009, 38, 4A; 1131-1150
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Tracking control of a balancing robot – a model-based approach
Sterowanie śledzące robota zachowującego równowagę – podejście oparte na modelu
Autorzy:
Zaiczek, T
Franke, M
Powiązania:
https://bibliotekanauki.pl/articles/140122.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
single-axle mobile robot
nonholonomic constraints
Hamel's equation
cascade control structure
input-output linearization
tracking control
nonlinear control
jednoosiowy robot mobilny
równanie ruchu Hamela
kontrola nieliniowa
Opis:
This paper presents a control concept for a single-axle mobile robot moving on the horizontal plane. A mathematical model of the nonholonomic mechanical system is derived using Hamel's equations of motion. Subsequently, a concept for a tracking controller is described in detail. This controller keeps the mobile robot on a given reference trajectory while maintaining it in an upright position. The control objective is reached by a cascade control structure. By an appropriate input transformation, we are able to utilize an input-output linearization of a subsystem. For the remaining dynamics a linear set-point control law is presented. Finally, the performance of the implemented control law is illustrated by simulation results.
W artykule przedstawiono koncepcję sterowania ruchem jednoosiowego robota poruszającego się po płaszczyźnie poziomej. Model matematyczny nieholonomicznego systemu mechanicznego wyprowadzono korzystając z równań ruchu Hamela. Opisano następnie szczegółowo koncepcję sterownika śledzącego. Sterownik prowadzi poruszający się robot po zadanej trajektorii utrzymując go jednocześnie w pozycji pionowej. Cel sterowania jest osiągnięty przy zastosowaniu kaskadowej struktury sterowania. Dzięki odpowiedniej transformacji danych wejściowych, w podsystemie istnieje możliwość linearyzacji wejście-wyjście. Dla dynamiki pozostałej części zaprezentowano prawo liniowego sterowania stałowartościowego. Ostatecznie, jakość działania zastosowanych praw sterowania zilustrowano wynikami symulacji.
Źródło:
Archive of Mechanical Engineering; 2014, LXI, 2; 331-346
0004-0738
Pojawia się w:
Archive of Mechanical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust output regulation of uncertain chaotic systems with input magnitude and rate constraints
Autorzy:
Velosa, C. M. N.
Bousson, K.
Powiązania:
https://bibliotekanauki.pl/articles/386885.pdf
Data publikacji:
2015
Wydawca:
Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:
output regulation
actuator constraints
parametric uncertainties
robust control
chaos
aeroelastic system
regulacja mocy
niepewność parametryczna
układ aeroelastyczny
Opis:
The problem of output regulation deserves a special attention particularly when it comes to the regulation of nonlinear systems. It is well-known that the problem is not always solvable even for linear systems and the fact that some demanding applications require not only magnitude but also rate actuator constraints makes the problem even more challenging. In addition, real physical systems might have parameters whose values can be known only with a specified accuracy and these uncertainties must also be considered to ensure robustness and on the other hand because they can be crucial for the type of behaviour exhibited by the system as it happens with the celebrated chaotic systems. The present paper proposes a robust control method for output regulation of chaotic systems with parameter uncertainties and subjected to magnitude and rate actuator constraints. The method is an extension of a work recently addressed by the same authors and consists in decomposing the nonlinear system into a stabilizable linear part plus a nonlinear part and in finding a control law based on the small-gain principle. Numerical simulations are performed to validate the effectiveness and robustness of the method using an aeronautical application. The output regulation is successfully achieved without exceeding the input constraints and stability is assured when the parameters are within the specified intervals. Furthermore, the proposed method does not require much computational effort because all the control parameters are computed offline.
Źródło:
Acta Mechanica et Automatica; 2015, 9, 4; 252-258
1898-4088
2300-5319
Pojawia się w:
Acta Mechanica et Automatica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Convergence of the Lagrange-Newton Method for Optimal Control Problems
Autorzy:
Malanowski, K. D.
Powiązania:
https://bibliotekanauki.pl/articles/907971.pdf
Data publikacji:
2004
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie optymalne
ograniczenia mieszane
metoda Lagrange'a-Newtona
optimal control
nonlinear ODEs
mixed constraints
Lagrange-Newton method
Opis:
Convergence results for two Lagrange-Newton-type methods of solving optimal control problems are presented. It is shown how the methods can be applied to a class of optimal control problems for nonlinear ODEs, subject to mixed control-state constraints. The first method reduces to an SQP algorithm. It does not require any information on the structure of the optimal solution. The other one is the shooting method, where information on the structure of the optimal solution is exploited. In each case, conditions for well-posedness and local quadratic convergence are given. The scope of applicability is briefly discussed.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2004, 14, 4; 531-540
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Input constraints handling in an MPC/feedback linearization scheme
Autorzy:
Deng, J.
Becerra, V. M.
Stobart, R.
Powiązania:
https://bibliotekanauki.pl/articles/907653.pdf
Data publikacji:
2009
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie predykcyjne
sterowanie odwrotne
sieć neuronowa
system nieliniowy
predictive control
feedback linearization
neural network
nonlinear system
constraints
Opis:
The combination of model predictive control based on linear models (MPC) with feedback linearization (FL) has attracted interest for a number of years, giving rise to MPC+FL control schemes. An important advantage of such schemes is that feedback linearizable plants can be controlled with a linear predictive controller with a fixed model. Handling input constraints within such schemes is difficult since simple bound contraints on the input become state dependent because of the nonlinear transformation introduced by feedback linearization. This paper introduces a technique for handling input constraints within a real timeMPC/FL scheme, where the plant model employed is a class of dynamic neural networks. The technique is based on a simple affine transformation of the feasible area. A simulated case study is presented to illustrate the use and benefits of the technique.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2009, 19, 2; 219-232
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
RTT+ - Time Validity Constraints in RTT Language
Autorzy:
Felkner, A.
Kozakiewicz, A.
Powiązania:
https://bibliotekanauki.pl/articles/309209.pdf
Data publikacji:
2012
Wydawca:
Instytut Łączności - Państwowy Instytut Badawczy
Tematy:
access control
inference system with time constraints
logic programming semantics
role-based trust management
set-theoretic semantics
Opis:
Most of the traditional access control models, like mandatory, discretionary and role based access control make authorization decisions based on the identity, or the role of the requester, who must be known to the resource owner. Thus, they may be suitable for centralized systems but not for decentralized environments, where the requester and service provider or resource owner are often unknown to each other. To overcome the shortcomings of traditional access control models, trust management models have been presented. The topic of this paper is three different semantics (set-theoretic, operational, and logic- programming) of RTT , language from the family of role-based trust management languages (RT). RT is used for representing security policies and credentials in decentralized, distributed access control systems. A credential provides information about the privileges of users and the security policies issued by one or more trusted authorities. The set-theoretic semantics maps roles to a set of sets of entity names. Members of such a set must cooperate in order to satisfy the role. In the case of logic-programming semantics, the credentials are translated into a logic program. In the operational semantics the credentials can be established using a simple set of inference rules. It turns out to be fundamental mainly in large- scale distributed systems, where users have only partial view of their execution context. The core part of this paper is the introduction of time validity constraints to show how that can make RTT language more realistic. The new language, named RTT+ takes time validity constraints into account. The semantics for RTT+ language will also be shown. Inference system will be introduced not just for specific moment but also for time intervals. It will evaluate maximal time validity, when it is possible to derive the credential from the set of available credentials. The soundness and completeness of the inference systems with the time validity constraints with respect to the set-theoretic semantics of RTT+ will be proven.
Źródło:
Journal of Telecommunications and Information Technology; 2012, 2; 74-82
1509-4553
1899-8852
Pojawia się w:
Journal of Telecommunications and Information Technology
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Some challenging feedback-control applications in biomedical systems
Autorzy:
Ionescu, C.
Keyser, R. de
Powiązania:
https://bibliotekanauki.pl/articles/333855.pdf
Data publikacji:
2005
Wydawca:
Uniwersytet Śląski. Wydział Informatyki i Nauki o Materiałach. Instytut Informatyki. Zakład Systemów Komputerowych
Tematy:
sterowanie adaptacyjne
sterowanie predykcyjne
ograniczenia
funkcjonalna stymulacja elektryczna
mięsień
cukrzyca typu 1
adaptive control
predictive control
constraints
functional electrical stimulation
muscle
type I diabetes
Opis:
Natural biological control involves the normal functioning of the living organism (i.e. human body) to regulate its parameters such that the vital functions are kept within the normal operating range. When this natural control fails, the biological feedback (thus a closed loop system) is unstable and/or operates under non-optimal conditions of the vital capacity of the subject. In this context, ensuring surviving capacity of the subject implies to artificially control the vital functions presenting the functional failure. Nowadays technology enables development of artificial closed loop devices to correct and provide the normal functions of the organism, replacing thus the damaged/non-optimal parts or helping in recovering their natural properties (rehabilitation techniques). Two of the most en-vogue applications of artificial control will exemplify the importance and the posed challenges: - a neuroprothesis device to control paralyzed skeletal muscles; this enables rehabilitation of drop-foot or hand-grasp movements with paretic or paralyzed skeletal muscles by use of a self-adaptive (auto-tuning) control strategy; - and an artificial pancreas for diabetes type I patients; the blood glucose control in diabetic patients type I is made by use of an in-house developed model-based predictive control algorithm in which input (insulin rate) and output (glucose level) are constrained.
Źródło:
Journal of Medical Informatics & Technologies; 2005, 9; 35-46
1642-6037
Pojawia się w:
Journal of Medical Informatics & Technologies
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On convergence of regularization methods for nonlinear parabolic optimal control problems with control and state constraints
Autorzy:
Neitzel, I.
Troltzsch, F.
Powiązania:
https://bibliotekanauki.pl/articles/970314.pdf
Data publikacji:
2008
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
optimal control
semilinear parabolic equation
pointwise state constraints
Moreau-Yosida regularization
Lavrentiev regularization
convergence
strong regularity
local uniqueness
Opis:
Moreau-Yosida and Lavrentiev type regularization methods are considered for nonlinear optimal control problems governed by semilinear parabolic equations with bilateral pointwise control and state constraints. The convergence of optimal controls of the regularized problems is studied for regularization parameters tending to infinity or zero, respectively. In particular, the strong convergence of global and local solutions is addressed. Moreover, strong regularity of the Lavrentiev-regularized optimality system is shown under certain assumptions, which, in particular, allows to show that locally optimal solutions of the Lavrentiev regularized problems are locally unique. This analysis is based on a second-order sufficient optimality condition and a separation assumption on almost active sets.
Źródło:
Control and Cybernetics; 2008, 37, 4; 1013-1043
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
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