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Tytuł:
Controllability criteria for time-delay fractional systems with a retarded state
Autorzy:
Sikora, B.
Powiązania:
https://bibliotekanauki.pl/articles/330421.pdf
Data publikacji:
2016
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
fractional dynamical systems
controllability criteria
delays in the state
constraints
pseudotransition matrix
Caputo derivative
układ dynamiczny ułamkowy
sterowalność
pochodna ułamkowego rzędu Caputo
Opis:
The paper is concerned with time-delay linear fractional systems with multiple delays in the state. A formula for the solution of the discussed systems is presented and derived using the Laplace transform. Definitions of relative controllability with and without constraints for linear fractional systems with delays in the state are formulated. Relative controllability, both with and without constraints imposed on control values, is discussed. Various types of necessary and sufficient conditions for relative controllability and relative U-controllability are established and proved. Numerical examples illustrate the obtained theoretical results.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2016, 26, 3; 521-531
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Discrete-time switching state-space controller of DC drive
Autorzy:
Sieklucki, G.
Bisztyga, B.
Sykulski, R.
Zdrojewski, A.
Orzechowski, T.
Powiązania:
https://bibliotekanauki.pl/articles/230000.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
DC drive
state variable constraints
switching gain matrix controller
state variables controller
Opis:
Control synthesis with state variables constraints for the DC drive is considered. Constraints are defined for the specific operating states of the DC motor during starting and braking in the presence of selected specific conditions. The control signal is based on the reference values and current state of the motor. The inverse dynamics method is applied. Closed-loop control law is realized by means of switching state-space controller.
Źródło:
Archives of Control Sciences; 2013, 23, 3; 333-349
1230-2384
Pojawia się w:
Archives of Control 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:
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:
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:
On the implicit programming approach in a class of mathematical programs with equilibrium constraints
Autorzy:
Outrata, J. V.
Cervinka, M.
Powiązania:
https://bibliotekanauki.pl/articles/970748.pdf
Data publikacji:
2009
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
mathematical problem with equilibrium constraint
state constraints
implicit programming
calmness
exact penalization
Opis:
In the paper we analyze the influence of implicit programming hypothesis and presence of state constraints on first order optimality conditions to mathematical programs with equilibrium constraints. In the absence of state constraints, we derive sharp stationarity conditions, provided the strong regularity condition holds. In the second part of the paper we suggest an exact penalization of state constraints and test the behavior of standard bundle trust region algorithm on academic examples.
Źródło:
Control and Cybernetics; 2009, 38, 4B; 1557-1574
0324-8569
Pojawia się w:
Control and Cybernetics
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
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:
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:
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:
Application of the classical implicit function theorem in sensitivity analysis of parametric optimal control
Autorzy:
Malanowski, K.
Powiązania:
https://bibliotekanauki.pl/articles/206654.pdf
Data publikacji:
1998
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
równania różniczkowe nieliniowe
różniczkowalność rozwiązań
sterowanie optymalne parametryczne
differentiability of solutions
implicit function theorem
nonlinear ordinary differential equations
parametric optimal control
state constraints
Opis:
A family {(O[sub h])} of parametric optimal control problems for nonlinear ODEs is considered. The problems are subject to pointwise inequality type state constraints. It is assumed that the reference solution is regular. The original problems (O[sub h]) are substituted by problems [...] subject to equality type constraints with the sets of activity depending on the parameter. Using the classical implicit function theorem, conditions are derived under which stationary points of [...] are Frechet differentiable functions of the parameter. It is shown that, under additional conditions, the stationary points of [...] correspond to the solutions and Lagrange multipliers of (O[sub h]9).
Źródło:
Control and Cybernetics; 1998, 27, 3; 335-352
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:
Finite element error analysis for state-constrained optimal control of the Stokes equations
Autorzy:
Los Reyes, J. C. de
Meyer, C.
Vexler, B.
Powiązania:
https://bibliotekanauki.pl/articles/969607.pdf
Data publikacji:
2008
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
równanie Stokesa
aproksymacja numeryczna
element skończony
linear quadratic optimal control problems
Stokes equations
state constraints
numerical approximation
finite elements
Opis:
An optimal control problem for 2d and 3d Stokes equations is investigated with pointwise inequality constraints on the state and the control. The paper is concerned with the full discretization of the control problem allowing for different types of discretization of both the control and the state. For instance, piecewise linear and continuous approximations of the control are included in the present theory. Under certain assumptions on the L∞-error of the finite element discretization of the state, error estimates for the control are derived which can be seen to be optimal since their order of convergence coincides with the one of the interpolation error. The assumptions of the L∞-finite-eleinent-error can be verified for different numerical settings. Finally the results of two numerical experiments are presented.
Źródło:
Control and Cybernetics; 2008, 37, 2; 251-284
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:
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 30

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