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Variational Analysis and sequential quadratic programming Approach for Robotics

Procedia Technology 2012年 4卷 636-640页

作者： Ankit R Patel Mahesh A Patel Dhaval R Vyas Assistant Professor Department of Electrical Engineering L C Institute of TechnologyBhandu Mahesana Gujarat India

sequential quadratic programming (SQP) methods are widely used for solving practical optimization problems, especially in contact mechanics. The general structure of SQP methods is briefly introduced and it is shown how these methods can be adapted to field of Robotics, especially bipedal robot. Numerical results are presented for compass bipedal robot. This paper describes relationship between variational analysis and sequential quadratic programming using discrete mechanics and optimal control for bipedal robot.

关键词： Optimal Control Optimization Lagrangian and Hamiltonian Mechanics Robotics sequential quadratic programming

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A new numerical approach to solve Thomas-Fermi model of an atom using bio-inspired heuristics integrated with sequential quadratic programming

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SPRINGERPLUS 2016年第1期5卷 1400页

作者： Raja, Muhammad Asif Zahoor Zameer, Aneela Khan, Aziz Ullah Wazwaz, Abdul Majid COMSATS Inst Informat Technol Dept Elect Engn Attock Pakistan PIEAS Dept Comp & Informat Sci Islamabad 45650 Pakistan Riphah Int Univ Dept Basic Sci Islamabad Pakistan St Xavier Univ Dept Math Chicago IL 60655 USA

In this study, a novel bio-inspired computing approach is developed to analyze the dynamics of nonlinear singular Thomas-Fermi equation (TFE) arising in potential and charge density models of an atom by exploiting the strength of finite difference scheme (FDS) for discretization and optimization through genetic algorithms (GAs) hybrid with sequential quadratic programming. The FDS procedures are used to transform the TFE differential equations into a system of nonlinear equations. A fitness function is constructed based on the residual error of constituent equations in the mean square sense and is formulated as the minimization problem. Optimization of parameters for the system is carried out with GAs, used as a tool for viable global search integrated with SQP algorithm for rapid refinement of the results. The design scheme is applied to solve TFE for five different scenarios by taking various step sizes and different input intervals. Comparison of the proposed results with the state of the art numerical and analytical solutions reveals that the worth of our scheme in terms of accuracy and convergence. The reliability and effectiveness of the proposed scheme are validated through consistently getting optimal values of statistical performance indices calculated for a sufficiently large number of independent runs to establish its significance.

关键词： Bio-inspired heuristics Thomas-Fermi model Atomic physics Genetic algorithm sequential quadratic programming Nonlinear singular systems

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Improved sequential quadratic programming Algorithm of Reactive Voltage Optimization

Improved Sequential Quadratic Programming Algorithm of React...

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Asia-Pacific Power and Energy Engineering Conference (APPEEC)

作者： Wang Ke Wang Le Guangxi Power Grid Corp Nanning Power Supply Bur Nanning Peoples R China Guangxi Univ Sch Elect Engn Nanning Peoples R China

ISBN: (纸本)9781424462551

Apply sequential quadratic programming algorithm into large power system's reactive voltage optimization and introduce exact penalty function as algorithm improvement. Use improved global sequential quadratic programming algorithm to do the reactive power optimization algorithm to IEEE 30-bus system and IEEE 118-bus system. The result shows that the global sequential quadratic programming algorithm, with good global convergence, is effective on reactive power optimization algorithm.

关键词： sequential quadratic programming Reactive voltage optimization MATLAB

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THE sequential LINEAR-quadratic programming ALGORITHM FOR SOLVING DYNAMIC OPTIMIZATION PROBLEMS - A REVIEW

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COMPUTERS & CHEMICAL ENGINEERING 1995年第Sup1期19卷 S495-S500页

作者： STOREN, S HERTZBERG, T UNIV TRONDHEIM NTHNORWEGIAN INST TECHNOLDEPT CHEM ENGNN-7034 TRONDHEIMNORWAY

The optimum principle for dynamic systems as formulated by Pontryagin in 1962 may be used for development of numerical algorithms to solve dynamic optimization problems. This as opposed to the well known methods which discretize controls (and states) to transform the problem into a NLP framework. An obstacle for its use has been the extensive symbolic manipulations needed to derive the optimality equations for a specific problem, and the difficulty of solving the resulting nonlinear two point boundary value problem. There are methods which make use of the optimality conditions for dynamic systems (Pontryagin Minimum Principle) just as SQP methods use the Kuhn-Tucker conditions. As in SQP, a problem with linear constraints and quadratic objective function is solved iteratively. Such a method is presented in this work. This is closely related to the dynamic optimization method based on a combination of a SQP solver and total discretization of the dynamic system. The dynamic linear-quadratic model has a single analytical optimal control solution, acid is thus accurately and effectively solved. Thus, at each iteration, the optimal solution is found for the linear-quadratic approximate model. This gives a search direction which can be used in a iterative scheme to ensure good agreement between the linear-quadratic and the nonlinear model.

关键词： PONTRYAGIN MAXIMUM PRINCIPLE sequential quadratic programming OPTIMIZATION NUMERICAL METHODS

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Pilot-Induced Oscillations (PIO) Susceptibility Evaluation Approach Based on sequential quadratic programming

Pilot-Induced Oscillations (PIO) Susceptibility Evaluation A...

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2010 2nd International Conference on Signal Processing System(2010年信号处理系统国际会议 ICSPS 2010)

作者： Zhizhong.Zhao Y.Liu S.W. Yan Z.H. Gao National Key Laboratory of Aerodynamic Design and Research Northwestern Polytechnical University Xi'an 710072 China

Time Domain Neal-Smith (TDNS) criterion is an ideal quantization criterion for evaluation PIO susceptibility. The characteristic of pilot's selfadapting make it difficult to apply the criterion. In this paper, sequential quadratic programming (SQP) algorithm is used for TDNS criterion, and the PIO susceptibility of an example aircraft is evaluated. The evaluation results indicate that it is practicable to evaluate PIO susceptibility by TDNS criterion with SQP algorithm.

关键词： sequential quadratic programming PIO susceptibility time domain Neal-Smith criterion time domain evaluation

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A REVISED sequential quadratic SEMIDEFINITE programming METHOD FOR NONLINEAR SEMIDEFINITE OPTIMIZATION

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JOURNAL OF INDUSTRIAL AND MANAGEMENT OPTIMIZATION 2023年第10期19卷 7777-7794页

作者： Okabe, Kosuke Yamakawa, Yuya Fukuda, Ellen hidemi Kyoto Univ Grad Sch Informat Kyoto Japan

In 2020, Yamakawa and Okuno proposed a stabilized sequential quadratic semidefinite programming (SQSDP) method for solving, in particular, degenerate nonlinear semidefinite optimization problems. The algorithm is shown to converge globally without a constraint qualification, and it has some nice properties, including the feasible subproblems, and their possible inexact computations. In particular, the convergence was established for approximateKarush-Kuhn-Tucker (AKKT) and trace-AKKT conditions, which are two sequential optimality conditions for the nonlinear conic contexts. However, recently, complementarity-AKKT (CAKKT) conditions were also considered, as an alternative to the previous mentioned ones, that is more practical. Since few methods are shown to converge to CAKKT points, at least in conic optimization, and to complete the study associated to the SQSDP, here we propose a revised version of the method, maintaining the good properties. We modify the previous algorithm, prove the global convergence in the sense of CAKKT, and show some preliminary numerical experiments.

关键词： Approximate Karush-Kuhn-Tucker conditions sequential quadratic programming sequential optimality conditions nonlinear semidefinite programming

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Electromagnetic Inverse Scattering Based on Null Space Reconstruction Using sequential quadratic programming

Electromagnetic Inverse Scattering Based on Null Space Recon...

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European Conference on Antennas and Propagation

作者： Hamid Reza Siampour Abolghasem Zeidaabadi Nezhad Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan Iran

ISBN: (纸本)9781467321877

Imaging of dielectric and conducting objects which are located in a known medium, based on null space reconstruction is presented. For this, we use the proper numerical methods, corresponding to the known background mediums, to formulate the direct scattering problems. Then, we modify the subspace optimization method (SOM) by using sequential quadratic programming (SQP) for solving inverse scattering problems. Also the effect of null space on the imaging results is determined by defining the radiating objective function.

关键词： sequential quadratic programming quadratic programming inverse scattering Null value Objective function Dielectrics ELECTROMAGNETIC

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An Improved Optimization Algorithm Combined Model Parameterization and sequential quadratic programming

An Improved Optimization Algorithm Combined Model Parameteri...

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2016 3rd International Conference on Materials Engineering,Manufacturing Technology and Control(ICMEMTC 2016)

作者： Weiwei Bian Zhenfang Xin Beijing Machine and Equipment Institute

According to the nonlinear problem of the trajectory optimization problem of rocket projectile, an improved optimization algorithm combined the direct model parameterization method and the sequential quadratic programming method was proposed. The direct numerical method was presented to converts the infinite dimensional optimization problem into a finite dimensional nonlinear programming problem. The improved sequential quadratic programming algorithm was derived by making a special treatment on the constraint conditions. Taking the range as the independent variable instead of the time, and taking the maximum range trajectory and the shortest f time trajectory as the function of the performance index respectively, the trajectory optimization model was presented, and the numerical simulations were carried out. The results show that the proposed algorithm is effective to solve the trajectory optimization problem.

关键词： Model Parameterization sequential quadratic programming Trajectory Optimization

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Nonlinear economic Model Predictive Control for SI engines based on sequential quadratic programming

Nonlinear economic Model Predictive Control for SI engines b...

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American Control Conference

作者： Qilun Zhu Simona Onori Robert Prucka Clemson University-International Center for Automotive Research Greenville SC 29607 USA

ISBN: (纸本)9781467386838

This paper proposes a model predictive torque control strategy for Spark Ignition (SI) engines with external Exhaust Gas Recirculation (EGR). The proposed Nonlinear (economic) Model Predictive Controller (NMPC) tries to minimize fuel consumption with given Indicate Mean Effective Pressure (IMEP) tracking reference and abnormal combustion constraints like knock and combustion stability. A Nonlinear programming (NLP) problem is formulated and solved using sequential quadratic programming (SQP) to obtain the desired control actions. The SQP exploits the Gauss-Newton like structure of the real time NLP problem to simplify computation of Hessian matrix. Simulation results demonstrate that the proposed model predictive IMEP control can track the IMEP reference for engine cycles without active constraints (with a RMS tracking error of 1.1%). When the IMEP reference conflicts with constraints, the SQP MPC can efficiently find close to optimal control actions that are similar to those from off-line feed forward calibration.

关键词： Engines Atmospheric modeling Computational modeling Fuels Combustion Silicon Predictive models Engines Atmospheric models Silicon Computational modeling Prediction models sequential quadratic programming Fuels Combustion indicated mean effective pressure control action Economic Models quadratic programming Engine cycle active constraint COMBUSTION INSTABILITY

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PILOT-INDUCED OSCILLATIONS(PIO) SUSCEPTIBILITY EVALUATION APPROACH BASED ON sequential quadratic programming

PILOT-INDUCED OSCILLATIONS(PIO) SUSCEPTIBILITY EVALUATION AP...

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The Third International Conference on Dynamics, Vibration and Control

作者： Zhizhong.Zhao~1,Yan.Liu~1,Shiwei,Yan~1,Zhenghong.Gao~1 1 National Key Laboratory of Aerodynamics Design and Research,Northwestern Polytechnical University,Xi'an 710072,China

Time Domain Neal-Smith(TDNS) criterion is an ideal method for evaluation PIO *** characteristic of pilot's self-adapting make it difficult to apply the *** this *** quadratic programming(SQP) algorithm is used for TDNS criterion,and the PIO susceptibility of an example aircraft is *** evaluation results indicate that it is practicable to evaluate PIO susceptibility by TDNS criterion with SQP algorithm.

关键词： sequential quadratic programming PIO susceptibility time domain Neal-Smith criterion time domain evaluation

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