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This paper focuses on an emission dependent supply chain consisting of one emission-dependent manufacturer and one emission-permit supplier under the carbon-and-trade scheme, where emission permission becomes requisite for production. We consider the emission cap of fresh products manufacturer allocated by the government and investigate its influence on decision-makings. An optimal control model is...
Urban freeway is the aorta of urban traffic, but in recent years, traffic congestion has become prominent increasingly, which seriously affects the urban traffic efficiency. Based on the analysis of the traffic flow characteristic of urban freeway and streets system, the macroscopic traffic flow model integrated urban freeway with streets system is established, by using store-and-forward model to...
A Linear Quadratic robust control algorithm is proposed for the system with non-stochastic uncertainties. In this paper, the uncertainties are the noises which lie in a bounded ellipsoid set. The assumption weakens the requirements of the known Gaussian distribution in the traditional Linear Quadratic Gaussian (LQG) control. Based on the linear characteristic of the system and robust optimization...
A problem of terminal control with linear dynamics on a finite time interval is considered. The right-hand end of trajectory is defined implicitly as a solution of boundary-value problem. The problem is reduced to finding a saddle point of the Lagrange function, and linear dynamics is regarded as an equality-type constraint. Dual extraproximal iterative method for solving the problem was proposed,...
We consider a general optimization problem with equality and inequality constraints in a Banach space, the latter being given by closed convex cones with nonempty interiors. A necessary optimality condition in the form of Lagrange multipliers rule is presented, that is convenient for application to a wide range of optimization problems.
In this paper, we present an efficient Dynamic Programing framework for optimal planning and control of legged robots. First we formulate this problem as an optimal control problem for switched systems. Then we propose a multi-level optimization approach to find the optimal switching times and the optimal continuous control inputs. Through this scheme, the decomposed optimization can potentially be...
The flexible variable-speed control system of rod pumping well is designed to increase the oil production speed and to reduce both the rod stress and motor energy consumption by changing the motor drive speed rapidly during a stroke cycle. This paper establishes a flexible variable-speed control model as well as the optimization algorithm for rod pumping well. The optimal motor speed profile is determined...
With the widespread implementation of Automatic Generation Control (AGC) in regional power grids, large-capacity supercritical and ultra-supercritical (SC/USC) power units are required to participate in peak load regulation frequently and often operate under wide-scope variable load conditions. Since a SC boiler unit is a MIMO strong coupling system with nonlinearity and large time delay characteristics,...
This article discusses the implementation of an infinite-horizon model predictive control approach that is based on representing input and state trajectories by a linear combination of basis functions. An iterative constraint sampling strategy is presented for guaranteeing constraint satisfaction over all times. It will be shown that the proposed method converges. In addition, we will discuss the...
Differential dynamic programming (DDP) is a widely used trajectory optimization technique that addresses nonlinear optimal control problems, and can readily handle nonlinear cost functions. However, it does not handle either state or control constraints. This paper presents a novel formulation of DDP that is able to accommodate arbitrary nonlinear inequality constraints on both state and control....
The problem of terminal control with a boundary-value problem on the right-hand end of time interval is considered. It is proved that only sufficient conditions for an extremum generate evidentiary methods and justified solutions.
The problem of the charged particle beam dynamics optimization considering particles' distribution density is studied. A combination of a smooth and non-smooth functionals is considered. The expression for the variation of the combined functional and the necessary condition for the optimal control are obtained.
There are examples of systems in which equilibria is Lyapunov-unstable, but is located on a boundary of a forward-invariant set. For initial conditions in this set corresponding solutions remains bounded and the equilibrium in some case is a weak attractor. The goal of this paper is to find an algorithm for estimating for-ward invariant set for a class of unstable systems. The proposed algorithm is...
In this paper, we introduce a computational approach for solving optimal driving strategies for trains in which the controllers action are confined to select from discrete modes. Since the controllers operate in succession, in order to avoid the undesirable Zeno phenomenon, we assume that the only one controller can be selected at a time and each active controller duration requires a minimum non-negligible...
In this paper, we propose a time-optimal trajectory generation algorithm for landing a 3-DOF (x−z and tilt) quadrotor model onto a moving platform. The algorithm exploits the differential flatness of the quadrotor dynamics model and formulates a nonlinear programming problem, which is then solved to obtain the time-optimal landing trajectory. The advantages of the proposed algorithm over state-of-the-art...
The dynamics of a distributed solar collector field can be modelled by a nonlinear hyperbolic partial differential equation (PDE) based on the energy balance. The model-based optimal control of the outlet temperature is studied. One of few ways to influence the outlet temperature is by adjusting the oil pump volumetric flow rate. In this work, an optimal algorithm is developed to minimize the mismatch...
This work focuses on offline and online multi-objective control of a fed-batch bioreactor for the induced foreign protein production by recombinant bacteria. Initially, open loop multi-objective control problem is formulated and solved using a single objective optimization after augmenting the individual objectives. The weighting parameters in the augmented objective function represent their priorities...
The formation reconfiguration problem of the multiple unmanned aerial vehicles (Multi-UAVs) is described as an optimal control problem in this paper. Firstly, the control model of formation flight is constructed with the three-dimensional elastic distance vector, which describes the relationship between the speed and distance of adjacent UAVs in the leader-follower type. Furthermore, the constraints...
The problem of suboptimal control in stochastic nonlinear dynamical systems based on the spline approximation of nonlinear functions is considered in this article.
The paper describes the approach of optimal control organization in case of random effects presence based on the values of the entropy potentials of the controlled parameters. It is proposed to use these values as criteria of optimality with subsequent “integration” them into the optimization problem. In the present paper are observed the features and possibilities of using different variants of criteria...
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