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closed-loop optimal control of Tethered Robot during Nonplanar Orbital Transfer 8

Closed-loop Optimal Control of Tethered Robot during Nonplan...

8th IEEE Annual International Conference on Cyber Technology in Automation, control, and Intelligent Systems (IEEE-CYBER)

作者： Sun, Liang Chen, Ming Zhao, Guowei Xu, Wei Beihang Univ Beijing 100191 Peoples R China

ISBN: (纸本)9781538670576

Typical Tethered Space Robot (TSR) composed of main satellite, operation robot and joined tether has an important prospect in active debris capture and removal applications. Targeting the safe, stable and economical nonplanar orbital transfer mission, the dynamic modeling and tracking control algorithm problems during the towing process have been studied in this paper, providing a theoretical basis for the tether towing deorbit technical verification and engineering. On the basis of optimal feedback control theory, the control problem during nonplanar orbital transfer mission of TSR is studied. For eliminating the effect of mismatch of system model and external disturbance, an optimal feedback controller in closed-loop form is proposed. The established optimal feedback controller is essentially composed of multiple computations by an open-loop optimal controller. Based on the state feedback matrix collected at the sampling interval, taking advantage of fast convergence speed and high precision characteristics inherited from Gauss-Pseudospectral method, the finite horizon open-loop optimal control problem at each sampling interval is discretized and solved. And the first part of each control sequence generated by the controller is imposed on the controlled model. Finally, the effectiveness of the proposed scheme is demonstrated via numerical case studies.

关键词： component Tethered Space Robot closed-loop optimal control Gauss-Pseudospectral Method Nonplanar Orbital Transfer

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optimal Synthesis control for Evolution Equations Subject to Nonlocal Inputs

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JOURNAL OF OPTIMIZATION THEORY AND APPLICATIONS 2025年第2期205卷 1-32页

作者： Acquistapace, Paolo Bucci, Francesca Univ Pisa Dipartimento Matemat Largo Bruno Pontecorvo 5 I-56127 Pisa Italy Univ Firenze Dipartimento Matemat & Informat Vle Morgagni 65 I-50134 Florence Italy

We consider the linear quadratic (LQ) optimal control problem for a class of evolution equations in infinite dimensions, in the presence of distributed and nonlocal inputs. Following a perspective akin to the one taken in our previous research work on the LQ problem for integro-differential equations-which combines a variational approach to the minimization problem with the consideration of a suitably enlarged state space-we offer a full (closed-loop, Riccati-based) solution to the optimization problem.

关键词： Evolution equations with memory Linear quadratic problem optimal synthesis closed-loop optimal control Riccati equation

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control of the Burgers equation by a reduced-order approach using proper orthogonal decomposition

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JOURNAL OF OPTIMIZATION THEORY AND APPLICATIONS 1999年第2期102卷 345-371页

作者： Kunisch, K Volkwein, S Karl Franzens Univ Graz Math Inst Graz Austria

Proper orthogonal decomposition (POD) is a method to derive reduced-order models for dynamical systems. In this paper, POD is utilized to solve open-loop and closed-loop optimal control problems for the Burgers equation. The relative simplicity of the equation allows comparison of POD-based algorithms with numerical results obtained from finite-element discretization of the optimality system. For closed-loop control, suboptimal state feedback strategies are presented.

关键词： open-loop optimal control closed-loop optimal control Burgers equation proper orthogonal decomposition

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Solutions of Nonlinear optimal Regulator and H_∞ control Problems via Galerkin Methods

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EUROPEAN JOURNAL OF control 1996年第3期2卷 211-226页

作者： Georges, D. Lab Automat Grenoble CNRS INPG UJF Paris France

This paper proposes a general framework for the numerical solution of nonlinear optimal control arising in optimal regulators and some related H-infinity problems. This approach is based on Galerkin methods, commonly used today in computational physics for the solution of partial differential equations appearing for example in structural mechanics, fluid mechanics or heat-conduction problems. It leads to approximations of optimal control laws in closed-loop form. From the viewpoint of stability and robustness, these approximations are stabilizing under mild sufficient conditions. Some examples are provided that demonstrates the effectiveness of this approach.

关键词： Nonlinear optimal regulator Nonlinear H-infinity-control closed-loop optimal control Galerkin methods Stability and robustness Dense polynomial approximation Tensor formal series solution

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A NONQUADRATIC BOLZA PROBLEM AND A QUASI-RICCATI EQUATION FOR DISTRIBUTED PARAMETER-SYSTEMS

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SIAM JOURNAL ON control AND OPTIMIZATION 1987年第4期25卷 905-920页

作者： YOU, YC FUDAN UNIV INST MATHSHANGHAIPEOPLES R CHINA

closed-loop optimal control of a nonquadratic Bolza problem for linear distributed parameter systems and normal solution of an associated quasi-Riccati operator equation are studied by the approach of a nonlinear inte... 详细信息

关键词： 49A27 Bolza problem nonquadratic cost function quasi-Riccati equation closed-loop optimal control nonlinear integral equation distributed parameter system

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Pseudo-Riccati operator equations and feedback optimal control of semilinear systems

Pseudo-Riccati operator equations and feedback optimal contr...

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35th IEEE Conference on Decision and control

作者： You, YC Univ of South Florida Tampa United States

ISBN: (纸本)0780335910

Concerns the quadratic optimal control of semilinear evolutionary systems. It is known that if a viscosity solution of the associated Hamilton-Jacobi equation exists, then its generalized derivative will provide a feedback optimal control. However, the global existence of a viscosity solution of the infinite-dimensional Hamilton-Jacobi equations remains open. Moreover, a real-time synthesis via a set-valued selection due to an involved generalized derivative is practically not implementable. A synthesis approach is presented for the semilinear evolution equations with a separate linear control term and a quadratic criterion of optimisation during a finite time interval. This approach features the pseudo-Riccati equation whose solution directly provides a feedback operator of the closed-loop optimal control.

关键词： nonlinear control systems Riccati equations optimal control feedback control system synthesis closed loop systems pseudo-Riccati operator equations feedback optimal control quadratic optimal control semilinear evolutionary systems viscosity solution infinite-dimensional Hamilton-Jacobi equations real-time synthesis set-valued selection feedback operator closed-loop optimal control

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A multi-parametric programming approach for multilevel hierarchical and decentralised optimisation problems

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COMPUTATIONAL MANAGEMENT SCIENCE 2009年第4期6卷 377-397页

作者： Faisca, Nuno P. Saraiva, Pedro M. Rustem, Berc Pistikopoulos, Efstratios N. Imperial Coll London Ctr Proc Syst Engn London SW7 2AZ England Univ Coimbra Dept Chem Engn Gepsi PSE Grp P-3030290 Coimbra Portugal

In this paper, we outline the foundations of a general global optimisation strategy for the solution of multilevel hierarchical and general decentralised multilevel problems, based on our recent developments on multi-parametric programming and control theory. The core idea is to recast each optimisation subproblem, present in the hierarchy, as a multi-parametric programming problem, with parameters being the optimisation variables belonging to the remaining subproblems. This then transforms the multilevel problem into single-level linear/convex optimisation problems. For decentralised systems, where more than one optimisation problem is present at each level of the hierarchy, Nash equilibrium is considered. A three person dynamic optimisation problem is presented to illustrate the mathematical developments.

关键词： Hierarchical decision making Multilevel programming Multi-parametric programming Discrete-time systems closed-loop optimal control

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