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Differential equation technique of representing dynamic systems for optimal control problems, and fundamental role of optimum linear filter
This note considers some aspects of the optimal filtering problem for linear processes in the presence of unknown biases in the input and the observations. It is proved via duality that the optimal filtering problem in the presence of an input bias is equivalent to a certain optimal regulator problem incorporating integral feedback. The question of observability of the augmented system used in the state and bias estimation is answered by deriving necessary and sufficient conditions when bias is present (1) in the input, (2) in the observations and (3) both in the input and the observations.
Linear stochastic continuous feedback system with white noise and control input, investigating combined problem of filtering and optimal control
Introduction: Scientific exploration is one of the three pillars of NASA’s Moon2Mars architecture, with crew surface extra vehicular activities (EVA) serving a critical enabling function. Development of surface EVA operational planning and execution, specifically integrating science and flight control teams (FCT), is currently being explored through analog scenarios. This integration, exercised, for example, through the Joint EVA and Hu-man Surface Mobility Test Team (JETT), allows for science input on EVA activities in near real-time through a Science Evaluation Room (SER), or Arte-mis science backroom, which integrates with the broader FCT through the Science Officer. The SER works within the FCT to support dynamic EVA planning in response to changes in operational constraints as well as science opportunities and re-prioritization, increasing the mission science return and accelerating the accomplishment of the Moon2Mars science objectives. The SER works within the FCT to provide recommendations to traverse execution in near real-time. One challenge is the requirement to deliver SER inputs to the FCT on operationally relevant timelines. Failure to do so may result in suboptimal execution of science exploration EVAs or even loss of key science objectives. To close this gap, we present a network optimization tool to allow the SER to provide rapid input to the FCT in response to changes in operational constraints or science opportunities. Inputs are predicated on approved science objectives, and clear rationale must be provided to the FCT for any requested change. Accordingly, this tool incorporates the Science Traceability Matrix (STM), SER prioritization scheme, and station characterization and action planning with operational constraints such as duration, traverse speed, and distance to maximize science objectives based on SER priorities, consistent with FCT operational requirements. Method: As a proof of concept, we used an existing linear programing software package used to simulate optimal routes through cellular metabolism. We built a Demonstrative Model with three STM objectives and four stations on a region of the Moon. The objectives were given an arbitrary prioritization and mapped to the stations through four possible crew actions. (Figs. 1 and 2). This station to STM mapping is consistent with the method used by the JETT5 Science Team to develop analog surface EVA science planning. We used a grid system with the landing site at the origin and the four stations placed across the positive x,y quadrant. Actions were assigned to each station and the accomplishment of those actions resulted in a numerical “reward” based on the ability of that action to achieve science objectives. The aggregate reward from each individual STM objective contributes to a global score (Science Yield), weighted by its priority. Operational constraints included a requirement to start and end at the landing site, 5 minutes each for initial station characterization and “clean up,” and variable total EVA time, traverse rate (fixed to 0.5 meters per second in our example), and time to perform each action (10, 5, 7, and 15 min for actions 1, 2, 3, and 4, respectively). Additional constraints and variables will be added in the future (e.g., sample mass, number of stations, traverse route constraints, illumination). Optimization. We converted the connections (arcs) between these stations (nodes) into a mixed integer linear programming optimization problem (arcs = constraints, nodes = variables) with the objective to maximize Science Yield. For any action, the Science Yield is equal to the relevance of that action to an STM objective [3, 2, and 1 point(s) for High, Med., and Low relevance, respectively], multiplied by the STM Objective Priority [3, 2, and 1 point(s) for High, Med., and Low priority, respectively]. This resulted in a model that computes the optimal station and action combination to maximize the Science Yield. These weightings can be adjusted by the SER as desired. Results: We explored three test cases for the Demonstrative Model. First, we set the maximum EVA duration to 120 minutes and computed the optimal route (Fig. 3A). The model suggested per-forming Actions 1 and 2 at Station P01, followed by Actions 1 and 2 at Station P02, and finally Actions 1 and 3 at Station P04 before returning to the Landing Site. Second, we adjusted the STM Objective Priori-ty order and computed the new optimal route (Fig. 3B). Under this situation, the model suggested per-forming all Actions at Station P02 followed by all Actions at Station P03. The previous test cases were relevant to SER planning activities. Next, we explored providing mid-EVA replanning input to the FCT. Scenario: While executing the Route in Fig. 3A the crew finishes at Station P01 and FCT decides that the EVA needs to finish in 45 minutes back at the Landing Site. FCT asks SER to recommend changes to the plan to accommodate this operation-al change. Using the model and incorporating these new constraints (start at Station P01, max. time of 45 min), the model suggested performing Actions 2 and 4 at Station P03 (Fig. 4), requiring 41 minutes to complete and return to the Landing Site. Interestingly, Station 3 was not part of the original route. Using the model, we determined the EVA would need 66 minutes, instead of 45, in order for the original Station P04 to yield a larger Science Yield than Station P03. The parametrization and simulation was per-formed in less than a minute, demonstrating the operational relevance of the approach. Future Efforts: The results from the Demonstrative Model suggest this tool can accelerate SER decision making on operationally relevant timelines. Use in analog activities, such as JETT5 or follow-ons, which have over a dozen stations for a crew to explore and over a dozen actions per station, will provide needed validation of the utility of this tool for planning EVAs, replanning mid-EVA, or planning follow-on EVAs based on previous results. Further integration with FCT execution monitoring tools may provide additional efficiency gains, al-lowing rapid and iterative exploration of operation-al and science decision space by the FCT and SER.
Optical stationary control of linear control system with state dependent Gaussian noise
Purpose: The development and testing of a tool for the inclusion of delivery time as a parameter in plan optimization. Methods: We developed an algorithm that estimates the time required for the machine and personnel movements required to deliver a treatment plan on a linear accelerator. We included dose rate, leaf motion, collimator motion, gantry motion, and couch motions (including time to enter the room to rotate the couch safely). Vault-specific parameters to account for time to enter and perform couch angle adjustments were also included. This algorithm works for static, step and shoot IMRT, and VMAT beams photon beams and for fixed electron beams. This was implemented as a script in our treatment planning system. We validated the estimator against actual recorded delivery time from our R and V system as well as recorded times from our IMRT QA delivery. Results: Data was collected (Figure 1) for 12 treatment plans by examining the R and V beam start times, and by manually timing the QA treatment for a reference, but the QA measurements were only significant to the nearest minute. The average difference between the estimated and R and V times was 15%, and 11% when excluding the major outliers. Outliers arose due to respiratory aides and gating techniques which could not be accounted for in the estimator. Conclusion: Non-mechanical factors such as the time a therapist needs to walk in and out of the room to adjust the couch needed to be fine-tuned and cycled back into the algorithm to improve the estimate. The algorithm has been demonstrated to provide reasonable and useful estimates for delivery time. This estimate has provided a useful additional input for clinical decision-making when comparing several potential radiation treatment options.
Here we present a new optimization-based property-preserving algorithm for passive tracer transport. The algorithm utilizes a semi-Lagrangian approach based on incremental remapping of the mass and the total tracer. However, unlike traditional semi-Lagrangian schemes, which remap the density and the tracer mixing ratio through monotone reconstruction or flux correction, we utilize an optimization-based remapping that enforces conservation and local bounds as optimization constraints. In so doing we separate accuracy considerations from preservation of physical properties to obtain a conservative, second-order accurate transport scheme that also has a notion of optimality. Moreover, we prove that the optimization-based algorithm preserves linear relationships between tracer mixing ratios. We illustrate the properties of the new algorithm using a series of standard tracer transport test problems in a plane and on a sphere.
Accurate and high-speed transient surface-temperature measurements of combustion devices including internal combustion (IC) engines, gas turbines, etc., provide validation targets and boundary conditions for computational fluid dynamics models, and are broadly relevant to technology advancements such as performance improvement and emissions reduction. Development and demonstration of a multi-infrared-channel pyrometry-based optical instrument for high-speed surface-temperature measurement is described. The measurement principle is based on multi-spectral radiation thermometry (MRT) and uses surface thermal radiation at four discrete spectral regions and a corresponding emissivity model to obtain surface temperature via non-linear least squares (NLLS) optimization. Rules of thumb for specifying the spectral regions and considerations to avoid interference with common combustion products are developed; the impact of these along with linear and non-linear MRT analysis are assessed as a function of temperature and signal-to-noise ratio. A multi-start method to determine the MRT-solution global optimum is described and demonstrated. The resulting multi-channel transient pyrometry instrument is described along with practical considerations including optical-alignment drift, matching intra-channel transient response, and solution-confidence indicators. The instrument demonstrated excellent >97% accuracy and >99% 2-sigma precision over the 400–800 °C range, with ~20 µs (50 kHz, equivalent to 0.2 cad at 2000 RPM IC-engine operation) transient response in the bench validation.
The problem of a maneuverable spacecraft, with limited thrust capability, moving between two coplanar circular earth orbits is considered. Thrusting is performed in the plane defined by the circles, so that the nonlinear dynamics and subsequent optimization problem are simplified. The approach used in this paper differs from the approaches of Edelbaum and Goetz in that the equations of motion are not linearized before formulating the optimization problem. An averaging approximation is used to determine the structure of the significant co-state variables.
In this article, we present a reduced order modeling approach suitable for active control of fluid dynamical systems based on proper orthogonal decomposition (POD). The rationale behind the reduced order modeling is that numerical simulation of Navier-Stokes equations is still too costly for the purpose of optimization and control of unsteady flows. We examine the possibility of obtaining reduced order models that reduce computational complexity associated with the Navier-Stokes equations while capturing the essential dynamics by using the POD. The POD allows extraction of certain optimal set of basis functions, perhaps few, from a computational or experimental data-base through an eigenvalue analysis. The solution is then obtained as a linear combination of these optimal set of basis functions by means of Galerkin projection. This makes it attractive for optimal control and estimation of systems governed by partial differential equations. We here use it in active control of fluid flows governed by the Navier-Stokes equations. We show that the resulting reduced order model can be very efficient for the computations of optimization and control problems in unsteady flows. Finally, implementational issues and numerical experiments are presented for simulations and optimal control of fluid flow through channels.
We consider H ∞ -optimal state-feedback control of the class of linear Partial Differential Equations (PDEs) which admit a Partial Integral Equation (PIE) representation. While linear matrix inequalities are commonly used for optimal control of Ordinary Differential Equations (ODEs), the absence of a universal state-space representation and suitable dual form prevents such methods from being applied to optimal control of PDEs. Specifically, for ODEs, the controller synthesis problem is defined in state-space, and duality is used to resolve the bilinearity of that synthesis problem. Recently, the PIE representation was proposed as a universal state-space representation for linear PDE systems. In this paper, we show that any PDE system represented by a PIE admits a dual PIE with identical stability and I/O properties. This result allows us to reformulate the stabilizing and optimal state-feedback control problems as convex optimization over the cone of positive Partial Integral (PI) operators. Operator inversion formulae then allow us to construct feedback gains for the original PDE system. The results are verified through application to several canonical problems in optimal control of PDEs and indicate the resulting bounds on H ∞ norm are not conservative.
A mathematically rigorous derivation is given of first order corrections to multi-impulse approximations to the solutions to space flight optimization problems with bang-bang control. The rocket was subjected to an inverse square gravitational force and to a thrust force with constant magnitude. The mass decreased linearly with time. An optimal impulsive solution was obtained for a problem with given initial and final conditions. The method was then used to obtain first-order corrections to the initial values of the costate variables. Indications are given on how the theory may be extended to higher order corrections. The theory was applied to intercept and rendezvous problems.
Electronically excited states characterized by intramolecular charge transfer play an essential role in many biological processes and optical devices. The ability to make quantitative ab initio predictions of the relative energetics involved is a challenging yet desirable goal, especially for large molecules in solution. In this work, we present a data set of 61 experimental measurements of absorption and emission processes, both in the gas phase and in solvents representing a broad range of polarities, which involve intramolecular charge transfer mediated by a nonzero, "twisted" dihedral angle between one or more donor and acceptor subunits. Among a variety of density functionals investigated within the framework of linear-response theory, the "optimally tuned" LRC-ωPBE functional, which utilizes a system-specific yet nonempirical procedure to specify the range-separation parameter, emerges as the preferred choice. For the entire set of excitation energies, involving changes in dipole moment ranging from 4 to >20 Debye, the mean signed and absolute errors are 0.02 and 0.18 eV, respectively (compared, e.g., to -0.30 and 0.30 for PBE0, 0.44 and 0.47 for LRC-ωPBEh, 0.83 and 0.83 for ωB97X-V). We analyze the performance of polarizable continuum solvation models available in Q-Chem that partition the solvent response into fast and slow time scales, and clear trends emerge when measurements corresponding to the four small 4-(dimethylamino)benzonitrile (DMABN)-like molecules and a charged species are excluded. We make the case that the large errors found only for small molecules in the gas phase and weak solvents cannot be expected to improve via the optimal tuning procedure, which enforces a condition that is exact only in the well-separated donor-acceptor limit, and present empirical evidence implicating the outsized importance for small donor-acceptor systems of relaxation effects that cannot be accounted for by the linear-response time-dependent density functional theory within the adiabatic approximation. Finally, we demonstrate the utility of the optimally tuned density functional approach by targeting the charge-transfer states of a large biomimetic model system for light-harvesting structures in Photosystem II.
Suboptimal adjoint-vector control theory for linearization of feedback control systems independent of nominal trajectory
The HEMS algorithm schedules residential appliance operation to minimize the weighted sum of occupant discomfort, total energy cost, peak electricity consumption and carbon footprint, weighted according to occupant preferences. A centralized mixed integer linear programming (MILP) based optimization approach is taken, with the HEMS managing all appliances directly, following a Model Predictive Control (MPC) methodology which determines the optimal schedule over the user-specified scheduling horizon and repeats the optimization at configurable time intervals. The HEMS is developed on the General Algebraic Modeling System (GAMS) using the MILP solver. This system is able to effectively deal with the stochasticity in the distributed system by utilizing Monte Carlo simulation where uncertainties in future electricity price, outdoor temperature, water usage, solar and wind generation can be accounted for. The HEMS controls the operation of the heating, ventilation and air conditioning (HVAC) system, water heater, refrigerator, residential batteries, electric vehicles, standalone micro combined heat and power (CHP) generator, dishwasher, washer/dryer, pool pumps, and lighting.
The problem of optimal control with a minimum time criterion as applied to a single boom system for achieving two axis control is discussed. The special case where the initial conditions are such that the system can be driven to the equilibrium state with only a single switching maneuver in the bang-bang optimal sequence is analyzed. The system responses are presented. Application of the linear regulator problem for the optimal control of the telescoping system is extended to consider the effects of measurement and plant noises. The noise uncertainties are included with an application of the estimator - Kalman filter problem. Different schemes for measuring the components of the angular velocity are considered. Analytical results are obtained for special cases, and numerical results are presented for the general case.
This paper develops and analyzes feedback-based online optimization methods to regulate the output of a linear time-invariant (LTI) dynamical system to the optimal solution of a time-varying convex optimization problem. The design of the algorithm is based on continuous-time primal-dual dynamics, properly modified to incorporate feedback from the LTI dynamical system, applied to a proximal augmented Lagrangian function. The resultant closed-loop algorithm tracks the solution of the time-varying optimization problem without requiring knowledge of (time-varying) disturbances in the dynamical system. The analysis leverages integral quadratic constraints to provide linear matrix inequality (LMI) conditions that guarantee global exponential stability and bounded tracking error. Analytical results show that, under a sufficient time-scale separation between the dynamics of the LTI dynamical system and the algorithm, the LMI conditions can be always satisfied. The paper further proposes a modified algorithm that can track an approximate solution trajectory of the constrained optimization problem under less restrictive assumptions. As an illustrative example, the proposed algorithms are showcased for power transmission systems, to compress the time scales between secondary and tertiary control, and allow to simultaneously power re-balancing and tracking of DC optimal power flow points.
Abstract This paper investigates the quadratic optimal control problem for constrained Markov jump linear systems with incomplete mode transition probability matrix (MTPM). Considering original system mode is not accessible, observed mode is utilized for asynchronous controller design where mode observation conditional probability matrix (MOCPM), which characterizes the emission between original modes and observed modes is assumed to be partially known. An LMI optimization problem is formulated for such constrained hidden Markov jump linear systems with incomplete MTPM and MOCPM. Based on this, a feasible state-feedback controller can be designed with the application of free-connection weighting matrix method. The desired controller, dependent on observed mode, is an asynchronous one which can minimize the upper bound of quadratic cost and satisfy restrictions on system states and control variables. Furthermore, clustering observation where observed modes recast into several clusters, is explored for simplifying the computational complexity. Numerical examples are provided to illustrate the validity.