Questions tagged [optimal-control]

A tag for questions that relate to numerical approaches to optimal control of systems.

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71 views

How to perform local sensitivity analysis for partial differential equations

I am looking for a way to do local sensitivity analysis for PDEs, preferably in Python. I get the impression that discretizing the equation then treating it as an ODE could work; however, would that ...
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1answer
94 views

What are systematic ways of approximating a non-smooth (non-continuously differentiable) system dynamic to be n-smooth?

I have a system dynamic that is non-smooth because it has several signum and absolute value functions in it (three-tank level control). I can obviously choose different sigmoid functions to ...
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1answer
68 views

Approximation Error in a Finite Difference Approximation of the Square of Derivative

First Part: (First-order derivative) Assuming $f$ is an infinitely differential function everywhere, the Taylor series of $f(x + h)$ at $x$ is \begin{align}\tag{1} f(x + h) = f(x) + hf'(x) + \frac{1}...
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295 views

Discrete-time Algebraic Riccati Equation (DARE) solver in C++

I need to use a Discrete-time Algebraic Riccati Equation (DARE) solver for an embedded controller (with limited processing power) in a research project and sadly, I can't find any implementation of it ...
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1answer
61 views

Numerical solution of non-linear first order partial differential equation (HJB)

I am trying to solve a simple optimal control problem using the Hamilton-Jacobi-Bellman equation, numerically in Python. This is proving to be rather difficult as I end up having to solve the ...
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0answers
36 views

Guide for finite-difference schemes for Hamilton-Jacobi-Bellman Equations

I need to solve a simple, low-dimensional Hamilton-Jacobi-Bellman equation. Is there a simple guide for doing this numerically using finite-difference schemes? I found a few research articles ...
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0answers
16 views

Procedure to identify characteristic properties of unknown functions in a DAE model

I have a system of 1st order odes given by $$ \dot{x_1}(t) = \alpha_1 f_1(x_1,t) + \beta_1 u(t) \\ \dot{x_2}(t) = \alpha_2 f_2(x_2,t) + \beta_2 u(t) $$ They are constrained by an algebraic equation ...
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57 views

scaling in discretized PDE system

I want to solve the following system via Matlab $\Omega=(0,1)^2$ $$\Delta y=\frac{1}{\alpha} p$$ $$ -\Delta p= y -1 $$ $$p|_{\partial \Omega}=0,~y|_{\partial \Omega}=0$$ using ...
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1answer
193 views

proper derivation of a functional for a time dependent parameter estimation problem

Following my previous question and its answer, after some reading of the advised books, I'm still confused about how to get the derivative of the functional to find the best parameter of my reaction ...
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1answer
164 views

Robust/Tested Solver for incompressible 2D Euler (Fluid dynamics) Equation

I am trying to locate suitable computational algorithms for a optimization problem that requires repeated solution of transient 2D incompressible Euler equation on a 2D domain (say rectangular). My ...
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199 views

Optimal Control using Dynamic Programming - Optimizing for Furthest Distance

So I have been investigating a problem to get a glider with control of its elevator to fly as far as possible from any given initial state. To keep this simple, we will view this in 2D space with the ...
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1answer
506 views

Position Estimation using 2D multilateration for non-intersecting distances

I am trying to estimate the position of a point $P$ in Matlab. I have $n$ access points (AP) at known positions ($n>2$) as well as the distances to the point $P$ from each AP. These distances all ...
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1answer
159 views

zero terminal value of the adjoint based optimal control

I have been pondering about this issue for some time... Say, I want to minimize a costfunctional $$ \tilde J(u) = J(v(u),u) = \frac 12 \int_0^T (v-v_0)^2 + \alpha u^2 dt $$ subject to $$ \dot v = v^2 ...
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1answer
120 views

GAMS Optimization

I am writing a GAMS program where I am interested in using the value of a variable as a condition inside an another equation. Let's say I have two equations with two variables, $g_1(t)$ and $g_2(t)$, ...
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46 views

A stable method for solving monontoe HJB equation

I am considering solving HJB equation of the form $$ v_t=g(a(x)v_x),\quad x\in \mathbb{R}, t>0, $$ with initial condition $v(0)=v_0$. Here $g:\mathbb{R}\to \mathbb{R}$ is Lipschitz and monotone ...
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45 views

Help formulating/finding the general class of this problem

Imagine a bus serving a line with N stations. Each station, $i, i=1,…N$, has $s_{ij}$ passengers that want to board the bus to go to $j$, $\forall j \neq i$. (one direction). So there are $\sum_j s_{...
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1answer
85 views

Using two reference values for a scalar variable: What's the name of this type of problem?

I don't really know where to ask this one... In fact, I am not sure I can define it properly. Here goes... Let's say I take measurements. In order to "normalize" these measurements, I divide their ...
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61 views

Convergence of KKT equations for discrete parameter estimation problems

Consider a discrete constrained optimization problem: $$ \mathbf{q}_*^h= \arg \min {\cal J}^h(\mathbf{x}^h[\mathbf{q}^h],\mathbf{q}^h) $$ subject to the (weak-form) constraint $$ F^h[\mathbf{x}^h(\...
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78 views

How to speed convergence when optimizing a linear objective with nonlinear constraints?

I'm trying to learn how to do optimal rocket trajectory planning. I have a process that works but it converges very slowly; I'm looking for help to understand how to speed that up. The optimal ...
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54 views

Comparison between of higher order interpolations

A while ago I came up with an algorithm which can be used to numerically solve optimal control problems, which basically came down to discretizing the control input $u(t)$ and interpolating this to ...
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1answer
533 views

Direct multiple shooting (numerical optimal control)

Please, I am currently implementing direct multiple shooting methods* and I need one simple but fundamental concept answered: When I want to provide not only objective function value (the result of ...
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1answer
192 views

Strict Feasibility in Interior Point Methods

As we know, in the interior point methods, all the iterates have to be strictly feasible. I implemented an affine scaling interior point for nonlinear objective functions. For small examples (2D), it ...
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3answers
174 views

Algorithms for radiation treatment planning

I have a medical physics problem - I want to maximise the dose absorbed by a brain tumour whilst minimising the dose in the rest of the brain, especially certain organs, such as the pituitary gland, ...
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0answers
69 views

numerical solver for stochastic optimal control problems

can any one recommend numerical solver (c/c++ library preferred) for stochastic optimal control problems? For deterministic optimal control I found something like that: http://abs-5.me.washington.edu/...
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92 views

Benchmarks or generic configurations for optimal flow control

I am about to test my algorithms for solving optimal control problems of type: Find an input $u$, such that for a time interval $(0,T]$ the cost functional $$J(v,u) = \mathcal M(v(T)) + \int_0^T\...