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Register a new userSpatio-Temporal Stochastic Optimization: Theory and Applications to Optimal Control and Co-Design
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There is a rising interest in Spatio-temporal systems described by Partial Differential Equations (PDEs) among the control community. Not only are these systems challenging to control, but the sizing and placement of their actuation is an NP-hard problem on its own. Recent methods either discretize the space before optimziation, or apply tools from linear systems theory under restrictive linearity assumptions. In this work we consider control and actuator placement as a coupled optimization problem, and derive an optimization algorithm on Hilbert spaces for nonlinear PDEs with an additive spatio-temporal description of white noise. We study first and second order systems and in doing so, extend several results to the case of second order PDEs. The described approach is based on variational optimization, and performs joint RL-type optimization of the feedback control law and the actuator design over episodes. We demonstrate the efficacy of the proposed approach with several simulated experiments on a variety of SPDEs.
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Correlated with the trend of increasing degrees of freedom in robotic systems is a similar trend of rising interest in Spatio-Temporal systems described by Partial Differential Equations (PDEs) among the robotics and control communities. These systems often exhibit dramatic under-actuation, high dimensionality, bifurcations, and multimodal instabilities. Their control represents many of the current-day challenges facing the robotics and automation communities. Not only are these systems challenging to control, but the design of their actuation is an NP-hard problem on its own. Recent methods either discretize the space before optimization, or apply tools from linear systems theory under restrictive linearity assumptions in order to arrive at a control solution. This manuscript provides a novel sampling-based stochastic optimization framework based entirely in Hilbert spaces suitable for the general class of textit{semi-linear} SPDEs which describes many systems in robotics and applied physics. This framework is utilized for simultaneous policy optimization and actuator co-design optimization. The resulting algorithm is based on variational optimization, and performs joint episodic optimization of the feedback control law and the actuation design over episodes. We study first and second order systems, and in doing so, extend several results to the case of second order SPDEs. Finally, we demonstrate the efficacy of the proposed approach with several simulated experiments on a variety of SPDEs in robotics and applied physics including an infinite degree-of-freedom soft robotic manipulator.
In this paper, we investigate a sparse optimal control of continuous-time stochastic systems. We adopt the dynamic programming approach and analyze the optimal control via the value function. Due to the non-smoothness of the $L^0$ cost functional, in general, the value function is not differentiable in the domain. Then, we characterize the value function as a viscosity solution to the associated Hamilton-Jacobi-Bellman (HJB) equation. Based on the result, we derive a necessary and sufficient condition for the $L^0$ optimality, which immediately gives the optimal feedback map. Especially for control-affine systems, we consider the relationship with $L^1$ optimal control problem and show an equivalence theorem.
We study emph{optimal insider control problems}, i.e. optimal control problems of stochastic systems where the controller at any time $t$ in addition to knowledge about the history of the system up to this time, also has additional information related to a emph{future} value of the system. Since this puts the associated controlled systems outside the context of semimartingales, we apply anticipative white noise analysis, including forward integration and Hida-Malliavin calculus to study the problem. Combining this with Donsker delta functionals we transform the insider control problem into a classical (but parametrised) adapted control system, albeit with a non-classical performance functional. We establish a sufficient and a necessary maximum principle for such systems. Then we apply the results to obtain explicit solutions for some optimal insider portfolio problems in financial markets described by It^ o-L evy processes. Finally, in the Appendix we give a brief survey of the concepts and results we need from the theory of white noise, forward integrals and Hida-Malliavin calculus.
We consider the optimal control problem of a general nonlinear spatio-temporal system described by Partial Differential Equations (PDEs). Theory and algorithms for control of spatio-temporal systems are of rising interest among the automatic control community and exhibit numerous challenging characteristic from a control standpoint. Recent methods focus on finite-dimensional optimization techniques of a discretized finite dimensional ODE approximation of the infinite dimensional PDE system. In this paper, we derive a differential dynamic programming (DDP) framework for distributed and boundary control of spatio-temporal systems in infinite dimensions that is shown to generalize both the spatio-temporal LQR solution, and modern finite dimensional DDP frameworks. We analyze the convergence behavior and provide a proof of global convergence for the resulting system of continuous-time forward-backward equations. We explore and develop numerical approaches to handle sensitivities that arise during implementation, and apply the resulting STDDP algorithm to a linear and nonlinear spatio-temporal PDE system. Our framework is derived in infinite dimensional Hilbert spaces, and represents a discretization-agnostic framework for control of nonlinear spatio-temporal PDE systems.
In this article, we investigate some of the fine properties of the value function associated to an optimal control problem in the Wasserstein space of probability measures. Building on new interpolation and linearisation formulas for non-local flows, we prove semiconcavity estimates for the value function, and establish several variants of the so-called sensitivity relations which provide connections between its superdifferential and the adjoint curves stemming from the maximum principle. We subsequently make use of these results to study the propagation of regularity for the value function along optimal trajectories, as well as to investigate sufficient optimality conditions and optimal feedbacks for mean-field optimal control problems.
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