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2014中国制导、导航与控制学术会议

作者： Xiaomin Zhang Haibin Duan Chen Yang School of Advanced Engineering Beihang UniversityBeijingChina Science and Technology on Aircraft Control LaboratorySchool of Automation Science and Electrical EngineeringBeihang UniversityBeijingChina

ISBN: (纸本)9781479946983

This article introduces a controller for solving the problem of multiple unmanned aerial vehicles (UAVs) formation *** the constraints of terminal status and of control action energy,the controller aims to find the best values of UAV's inputs (including thrust,load factor,bank angle) to accomplish the *** basis of our controller is a method which combines PIO with ***-Inspired optimization (PIO) is a novel *** has been proposed and applied in engineering problems by following the inspirational precious *** is a method called control parameterization and time ***,we use a mathematical model to get a function which can evaluate the reconfiguration ***,to verify the validity of our controller,comparative experiments between PIO and particle swarm optimization (PSO) are *** comparative results demonstrate that our proposed controller embedded with PIO is much better than the one with PSO.

关键词： autonomous aerial vehicles control system synthesis evolutionary computation multi-robot systems particle swarm optimisation position control PIO algorithm PSO UAV formation reconfiguration controller design control action energy constraint control parameterization multiple unmanned aerial vehicles particle swarm optimization pigeon-inspired optimization approach reconfiguration effect terminal status constraint time discretization Compass Educational institutions Equations Linear programming Mathematical model Solid modeling Three-dimensional displays

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Vehicle Collision Avoidance Maneuvers With Limited Lateral Acceleration Using Optimal Trajectory control

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 2013年第4期135卷 041006-1-041006-12页

作者： Soudbakhsh, Damoon Eskandarian, Azim Chichka, David MIT Dept Mech Engn Act Adapt Control Lab Cambridge MA 02139 USA George Washington Univ Sch Engn & Appl Sci Ctr Intelligent Syst Res Washington DC 20052 USA George Washington Univ Dept Mech Engn Washington DC 20052 USA

In this paper, the possibility of performing severe collision avoidance maneuvers using trajectory optimization is investigated. A two degree of freedom vehicle model was used to represent dynamics of the vehicle. First, a linear tire model was used to calculate the required steering angle to perform the desired evasive maneuver, and a neighboring optimal controller was designed. Second, direct trajectory optimization algorithm was used to find the optimal trajectory with a nonlinear tire model. To evaluate the results, the calculated steering angles were fed to a full vehicle dynamics model. It was shown that the neighboring optimal controller was able to accommodate the introduced disturbances. Comparison of the resultant trajectories with other desired trajectories showed that it results in a lower lateral acceleration profile and a smaller maximum lateral acceleration;thus the time to perform an obstacle avoidance maneuver can be reduced using this method. A simulation case study of a limited lateral acceleration with constrained direct trajectory optimization shows that using the proposed trajectory optimization technique requires less time than that of trapezoidal acceleration profile for a lane change maneuver.

关键词： road vehicle trajectory optimization control parameterization neighboring extremal optimal control shooting method

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Optimal control computation for nonlinear systems with state-dependent stopping criteria

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AUTOMATICA 2012年第9期48卷 2116-2129页

作者： Lin, Qun Loxton, Ryan Teo, Kok Lay Wu, Yong Hong Curtin Univ Technol Dept Math & Stat Perth WA 6845 Australia

In this paper, we consider a challenging optimal control problem in which the terminal time is determined by a stopping criterion. This stopping criterion is defined by a smooth surface in the state space;when the state trajectory hits this surface, the governing dynamic system stops. By restricting the controls to piecewise constant functions, we derive a finite-dimensional approximation of the optimal control problem. We then develop an efficient computational method, based on nonlinear programming, for solving the approximate problem. We conclude the paper with four numerical examples. (C) 2012 Elsevier Ltd. All rights reserved.

关键词： Nonlinear optimal control control parameterization Nonlinear programming Time-scaling transformation

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ON A CLASS OF NONLINEAR OPTIMAL SYNCHRONIZATION AND TRACKING control PROBLEMS

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INTERNATIONAL JOURNAL OF INNOVATIVE COMPUTING INFORMATION AND control 2011年第5A期7卷 2311-2322页

作者： Zhou, Jingyang Teo, Kok Lay Curtin Univ Technol Dept Math & Stat Perth WA Australia

In this paper, we consider a new class of nonlinear optimal tracking and synchronization control problems subject to control constraints, where the motions of two distinct objects are required to achieve synchronization, at the minimum time while achieving the optimal tracking of a reference target. A computational method is developed for constructing such an optimal switching control law. The method proposed is then used to solve a practical problem, which arises from the study of the angular velocity tracking and synchronization of two spacecrafts during their formation flight. The results obtained are highly satisfactory.

关键词： Nonlinear system Synchronization control Optimal control Tracking control Minimum time control parameterization Time scaling transform

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control parameterization enhancing transform for optimal control of switched systems

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MATHEMATICAL AND COMPUTER MODELLING 2006年第11-12期43卷 1393-1403页

作者： Li, R. Teo, K. L. Wong, K. H. Duan, G. R. Curtin Univ Technol Dept Math & Stat Perth WA 6845 Australia Univ Witwatersrand Dept Computat & Appl Math Johannesburg South Africa Harbin Inst Technol Ctr Control Theory & Guidance Technol Harbin Peoples R China

In this paper, a class of optimal switching control problems with prespecified order of the sequence of subsystems is considered, where the switching instants are included in the cost functional. Both the switching instants and the control function are to be chosen such that the cost functional is minimized. Through the discretization of the control space, each control component is approximated by a piecewise constant function. The partition points and the heights of each of these piecewise constant functions are taken as decision varibles. Using the control parameterization enhancing transform, we map both types of switching instants into preassigned knot points via the introduction of an additional control, known as the enhancing control. In this way, we construct a sequence of approximate optimal parameter selection problems with fixed switching time points. We then show that these approximate optimal parameter selection problems are solvable as mathematical programming problems. The convergence analysis of this approximation is investigated. Two examples are solved using the proposed method so as to demonstrate the effectiveness of the method proposed. (c) 2005 Elsevier Ltd. All rights reserved.

关键词： switched systems optimal control computation control parameterization control parameterization enhancing transform

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基于控制参数化多时滞线性系统的优化控制方法

基于控制参数化多时滞线性系统的优化控制方法

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湖南省第三届研究生创新论坛——信息与控制工程的新理论和新技术分论坛

作者：陈宁沈晓瑜桂卫华阳春华王凌云中南大学信息科学与工程学院长沙 410083

针对具有连续状态不等式约束的多时滞线性系统的优化控制问题，研究基于控制参数化的最优设计方法。通过把时滞系统动态模型中的控制量表示成关于时间的分段常数函数，把每个控制参数看作决策变量，从而将多时滞系统的控制问题转化为数... 详细信息

针对具有连续状态不等式约束的多时滞线性系统的优化控制问题，研究基于控制参数化的最优设计方法。通过把时滞系统动态模型中的控制量表示成关于时间的分段常数函数，把每个控制参数看作决策变量，从而将多时滞系统的控制问题转化为数学规划问题。推导出在连续状态不等式约束条件下的目标函数和约束函数对于待求参数的梯度公式，并用序列二次规划算法求出其最优控制量。最后，将该优化算法应用于湿法炼锌净化过程中。仿真结果说明，添加的锌粉量可以有效地减少，从而避免了资源的浪费。

关键词： multiple time-delays system control parameterization continuous state inequality constraints SQP algorithm

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A numerical method for a class of mixed switching and impulsive optimal control problems

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COMPUTERS & MATHEMATICS WITH APPLICATIONS 2006年第5期52卷 625-636页

作者： Liu, Yanqun Eberhard, A. Teo, Kok Lay Royal Melbourne Inst Technol Dept Math & Stat Melbourne Vic 3001 Australia Curtin Univ Technol Dept Math & Stat Perth WA 6845 Australia

In this paper, we consider a class of optimal control problems in which the dynamical system involves both switching and impulsive controls. The number of switching times are supposed to be finite and, without loss of generality, to occur together with the impulses. We show that this class of optimal control problems is equivalent to a special class of optimal parameter selection problems. The gradient formulae for the cost functional and the constraint functional are derived. On this basis, the control parameterization is shown to be applicable for numerical solution. A numerical example is solved for illustration. (c) 2006 Elsevier Ltd. All rights reserved.

关键词： impulsive control switching control state jump optimal parameter selection control parameterization

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Optimization of hybrid systems

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COMPUTERS & CHEMICAL ENGINEERING 2006年第10-12期30卷 1576-1589页

作者： Barton, Paul I. Lee, Cha Kun Yunt, Mehmet MIT Proc Syst Engn Lab Dept Chem Engn Cambridge MA 02139 USA MIT Dept Mech Engn Cambridge MA 02139 USA

An overview of dynamic optimization problems with hybrid systems embedded is presented. The control parameterization approach is examined in detail, where the possibility of mode switching within the hybrid system causes nonsmoothness in the Master problem, thus invalidating gradient based solvers. To handle this, a decomposition approach is proposed that divides the general problem into smooth subproblems. The subproblem of determining the optimal mode sequence given fixed transition times is considered for continuous time linear time varying hybrid systems. A mixed-integer reformulation of the problem is proposed that retains the linear structure of the embedded hybrid system. A deterministic branch-and-cut framework incorporating outer approximation cuts and a dynamic bounds tightening heuristic is then employed to solve the nonconvex mixed-integer problem to guaranteed global optimality with a finite number of iterations. It is shown that the dynamic bounds tightening heuristic can have a dramatic effect on accelerating convergence of the algorithm. Future directions for research are also discussed, including the application of recent developments in semi-infinite programming for the formal safety verification of processes under uncertainty. (c) 2006 Elsevier Ltd. All rights reserved.

关键词： dynamic optimization optimal mode sequences control parameterization

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Solving an identification problem as an impulsive optimal parameter selection problem

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COMPUTERS & MATHEMATICS WITH APPLICATIONS 2005年第1-2期50卷 217-229页

作者： Wu, CZ Teo, KL Zhao, Y Yan, WY Zhongshan Univ Dept Math Guangzhou Peoples R China Curtin Univ Technol Dept Math & Stat Perth WA 6845 Australia Curtin Univ Technol Dept Elect & Comp Engn Perth WA 6845 Australia

In this paper, we consider an interesting identification problem where an unknown phenomenon is to be identified by the trajectory of an impulsive differential equation. The system coefficients, the locations of the switching time points, and the heights of the jumps at these time points are to be determined such that the summation of the least square errors of the trajectory of the impulsive system and the phenomenon over the observed time points is minimized. This becomes an interesting dynamical optimization problem. We develop an efficient computational method for solving this dynamical optimization problem. Our approach first is to use the control parameterization enhancing transform to convert this dynamical optimization problem into an equivalent optimal parameter selection problem, where the varying time points are being mapped into fixed time points. Then, the gradient formula of the cost function is derived. Thus, this optimal parameter selection problem can be solved as a mathematical programming problem. For illustration, a numerical example is solved by using the proposed method. (c) 2005 Elsevier Ltd. All rights reserved.

关键词： identification problem control parameterization enhancing transform impulsive system optimal parameter selection problem computational method

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Restricted second order information for the solution of optimal control problems using control vector parameterization

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JOURNAL OF PROCESS control 2002年第2期12卷 243-255页

作者： Balsa-Canto, E Banga, JR Alonso, AA Vassiliadis, VS Univ Cambridge Dept Chem Engn Cambridge CB2 3RA England Univ Vigo Dept Chem Engn Vigo Spain CSIC Inst Invest Marinas Chem Engn Lab Vigo 36208 Spain

A new scheme using a Truncated Newton algorithm with and exact Hessian-search direction vector product is presented for the solution of optimal control problems. The derivation of formulae for second order parametric sensitivity analysis of differential-algebraic equations is presented, following earlier published work [V.S. Vassiliadis, E. Balsa-Canto, J.R. Banga, Second order sensitivities of general dynamic systems with application to optimal control problems. Chem. Eng. Sci. 54 (17) (1999) 3851-3860]. An original result in this work is the derivation of Hessian matrix-vector product forms which are shown to have the same computational complexity as the evaluation of first order sensitivities. This result for optimal control Hessian-vector products using control vector parameterization is shown to be a very effective way to solve optimal control problems. It is also noted that this work introduces the use of suitable Truncated Newton solvers which can exploit the exact vector products in using conjugate gradient iterations to converge the Newton equations. Such a solver is the TN algorithm of Nash [(S.G. Nash-Newton type minimization via the Lanczos method. SIAM J. Num. Anal. 21, (1984) 770-778)]. Because no full Hessian update is necessary it is demonstrated that the resulting optimal control solver performs very well for a very large number of degrees of freedom, limited only by the necessity for many right-hand-side calculations in the first and second order sensitivity equations (the Hessian vector product). It is also demonstrated by several case studies that the scheme is capable of starting far from the solution and yet arrive there in almost invariant performance. (C) 2002 Published by Elsevier Science Ltd. All rights reserved.

关键词： second order sensitivities first order sensitivities Hessian-vector products optimal control control parameterization differential-algebraic equations ordinary differential equations truncated Newton methods

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