Subscribe to the gold package and get unlimited access to Shamra Academy
Register a new userSpatio-Temporal Differential Dynamic Programming for Control of Fields
62
0
0.0
(
0
)
Ask ChatGPT about the research
No Arabic abstract
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.
rate research
Read More
Optimal control is a popular approach to synthesize highly dynamic motion. Commonly, $L_2$ regularization is used on the control inputs in order to minimize energy used and to ensure smoothness of the control inputs. However, for some systems, such as satellites, the control needs to be applied in sparse bursts due to how the propulsion system operates. In this paper, we study approaches to induce sparsity in optimal control solutions -- namely via smooth $L_1$ and Huber regularization penalties. We apply these loss terms to state-of-the-art DDP-based solvers to create a family of sparsity-inducing optimal control methods. We analyze and compare the effect of the different losses on inducing sparsity, their numerical conditioning, their impact on convergence, and discuss hyperparameter settings. We demonstrate our method in simulation and hardware experiments on canonical dynamics systems, control of satellites, and the NASA Valkyrie humanoid robot. We provide an implementation of our method and all examples for reproducibility on GitHub.
This paper discusses the odds problem, proposed by Bruss in 2000, and its variants. A recurrence relation called a dynamic programming (DP) equation is used to find an optimal stopping policy of the odds problem and its variants. In 2013, Buchbinder, Jain, and Singh proposed a linear programming (LP) formulation for finding an optimal stopping policy of the classical secretary problem, which is a special case of the odds problem. The proposed linear programming problem, which maximizes the probability of a win, differs from the DP equations known for long time periods. This paper shows that an ordinary DP equation is a modification of the dual problem of linear programming including the LP formulation proposed by Buchbinder, Jain, and Singh.
We are concerned with the linear-quadratic optimal stochastic control problem with random coefficients. Under suitable conditions, we prove that the value field $V(t,x,omega), (t,x,omega)in [0,T]times R^ntimes Omega$, is quadratic in $x$, and has the following form: $V(t,x)=langle K_tx, xrangle$ where $K$ is an essentially bounded nonnegative symmetric matrix-valued adapted processes. Using the dynamic programming principle (DPP), we prove that $K$ is a continuous semi-martingale of the form $$K_t=K_0+int_0^t , dk_s+sum_{i=1}^dint_0^tL_s^i, dW_s^i, quad tin [0,T]$$ with $k$ being a continuous process of bounded variation and $$Eleft[left(int_0^T|L_s|^2, dsright)^pright] <infty, quad forall pge 2; $$ and that $(K, L)$ with $L:=(L^1, cdots, L^d)$ is a solution to the associated backward stochastic Riccati equation (BSRE), whose generator is highly nonlinear in the unknown pair of processes. The uniqueness is also proved via a localized completion of squares in a self-contained manner for a general BSRE. The existence and uniqueness of adapted solution to a general BSRE was initially proposed by the French mathematician J. M. Bismut (1976, 1978). It had been solved by the author (2003) via the stochastic maximum principle with a viewpoint of stochastic flow for the associated stochastic Hamiltonian system. The present paper is its companion, and gives the {it second but more comprehensive} adapted solution to a general BSRE via the DDP. Further extensions to the jump-diffusion control system and to the general nonlinear control system are possible.
We develop a discrete-time optimal control framework for systems evolving on Lie groups. Our work generalizes the original Differential Dynamic Programming method, by employing a coordinate-free, Lie-theoretic approach for its derivation. A key element lies, specifically, in the use of quadratic expansion schemes for cost functions and dynamics defined on manifolds. The obtained algorithm iteratively optimizes local approximations of the control problem, until reaching a (sub)optimal solution. On the theoretical side, we also study the conditions under which convergence is attained. Details about the behavior and implementation of our method are provided through a simulated example on T SO(3).
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.
Log in to be able to interact and post comments
comments
Fetching comments
Sign in to be able to follow your search criteria
