We present serial and parallel algorithms for solving a system of equations that arises from the discretization of the Hamilton-Jacobi equation associated to a trajectory optimization problem of the following type. A vehicle starts at a prespecified point x/sub o/ and follows a unit speed trajectory x(t) inside a region in /spl Rscr//sup m/ until an unspecified time T that the region is exited. A trajectory minimizing a cost function of the form /spl int//sub 0//sup T/ r(x(t))dt+q(x(T)) is sought. The discretized Hamilton-Jacobi equation corresponding to this problem is usually solved using iterative methods. Nevertheless, assuming that the function r is positive, we are able to exploit the problem structure and develop one-pass algorithms for the discretized problem. The first algorithm resembles Dijkstra's shortest path algorithm and runs in time O(n log n), where n is the number of grid points. The second algorithm uses a somewhat different discretization and borrows some ideas from a variation of Dial's shortest path algorithm (1969) that we develop here; it runs in time O(n), which is the best possible, under some fairly mild assumptions. Finally, we show that the latter algorithm can be efficiently parallelized: for two-dimensional problems and with p processors, its running time becomes O(n/p), provided that p=O(/spl radic/n/log n). >

/pdf/efficient-algorithms-for-globally-optimal-trajectories-15ino6dhzd.pdf

Efficient algorithms for globally optimal trajectories

Introduction to systems general properties of linear systems the geometric approach - analysis, synthesis, robustness optimality.

/pdf/controlled-and-conditioned-invariants-in-linear-system-41f98ufd83.pdf

Controlled and conditioned invariants in linear system theory

This paper presents a new approach for solving optimal control problems for switched systems. We focus on problems in which a prespecified sequence of active subsystems is given. For such problems, we need to seek both the optimal switching instants and the optimal continuous inputs. In order to search for the optimal switching instants, the derivatives of the optimal cost with respect to the switching instants need to be known. The most important contribution of the paper is a method which first transcribes an optimal control problem into an equivalent problem parameterized by the switching instants and then obtains the values of the derivatives based on the solution of a two point boundary value differential algebraic equation formed by the state, costate, stationarity equations, the boundary and continuity conditions, along with their differentiations. This method is applied to general switched linear quadratic problems and an efficient method based on the solution of an initial value ordinary differential equation is developed. An extension of the method is also applied to problems with internally forced switching. Examples are shown to illustrate the results in the paper.

/pdf/optimal-control-of-switched-systems-based-on-1z8hlqsgkw.pdf

Optimal control of switched systems based on parameterization of the switching instants

Presents serial and parallel algorithms for solving a system of equations that arises from the discretization of the Hamilton-Jacobi equation associated to a trajectory optimization problem of the following type. A vehicle starts at a prespecified point x/sub 0/ and follows a unit speed trajectory x(t) inside a region in /spl Rfr//sup m/, until an unspecified time T that the region is excited. A trajectory minimising a cost function of the form /spl int//sub 0//sup T/ r(x(t))dt+q(x(T)) is sought. The discretized Hamilton-Jacobi equation corresponding to this problem is usually served using iterative methods. Nevertheless, assuming that the function r is positive, one is able to exploit the problem structure and develop one-pass algorithms for the discretized problem. The first m resembles Dijkstra's shortest path algorithm and runs in time O(n log n), where n is the number of grid points. The second algorithm uses a somewhat different discretization and borrows some ideas from Dial's shortest path algorithm; it runs in time O(n), which is the best possible, under some fairly mild assumptions. Finally, the author shows that the latter algorithm can be efficiently parallelized: for two-dimensional problems and with p processors, its running time becomes O(n/p), provided that p=O(/spl radic/n/log n). >

/pdf/efficient-algorithms-for-globally-optimal-trajectories-5gh2qcy6e1.pdf

The control of flexible systems is a large and important field of study. Unwanted transient deflection and residual vibration are detrimental to many systems ranging from nano-positioning devices to large industrial cranes. Thousands of researchers have worked diligently for decades to provide solutions to the challenging problems posed by flexible dynamic systems. The work can roughly be broken into three categories:1) Hardware design, 2) Feedback control, and 3) Command shaping. This paper provides a review of command-shaping research since it was first proposed in the late 1950’s. The important milestones of the research advancements, as well as application examples, are used to illustrate the developments in this important research field.

Command shaping for flexible systems: A review of the first 50 years

Optimal control

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