A Multi-Stage Optimization Formulation for MPC-Based Obstacle Avoidance in Autonomous Vehicles Using a LIDAR Sensor

2014 ◽  
Author(s):  
Jiechao Liu ◽  
Paramsothy Jayakumar ◽  
Jeffrey L. Stein ◽  
Tulga Ersal
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Obstacle Avoidance ◽  
High Speed ◽  
Optimal Solution ◽  
Multi Stage ◽  
Lift Off ◽  
And Control ◽  
Control Delays

The dynamics of an autonomous unmanned ground vehicle (UGV) that is at least the size of a passenger vehicle are critical to consider during obstacle avoidance maneuvers to ensure vehicle safety. Methods developed so far do not take vehicle dynamics and sensor limitations into account simultaneously and systematically to guarantee the vehicle’s dynamical safety during avoidance maneuvers. To address this gap, this paper presents a model predictive control (MPC) based obstacle avoidance algorithm for high-speed, large-size UGVs that perceives the environment only through the information provided by a sensor, takes into account the sensing and control delays and the dynamic limitations of the vehicle, and provides smooth and continuous optimal solutions in terms of minimizing travel time. Specifically, information about the environment is obtained using an on-board Light Detection and Ranging (LIDAR) sensor. Ensuring the vehicle’s dynamical safety is translated into avoiding single tire lift-off. The obstacle avoidance problem is formulated as a multi-stage optimal control problem with a unique optimal solution. To solve the optimal control problem, it is transcribed into a nonlinear programming (NLP) problem using a pseudo-spectral method, and solved using the interior-point method. Sensing and control delays are explicitly taken into consideration in the formulation. Simulation results show that the algorithm is capable of generating smooth control commands to avoid obstacles while guaranteeing dynamical safety.

scholarly journals Delayed Stochastic Linear-Quadratic Control Problem and Related Applications

2012 ◽  
Vol 2012 ◽  
pp. 1-22 ◽  
Author(s):  
Li Chen ◽  
Zhen Wu ◽  
Zhiyong Yu
Keyword(s):  
Optimal Control ◽  
Differential Equations ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Stochastic Differential Equations ◽  
Backward Stochastic Differential Equations ◽  
Delay System ◽  
Linear Quadratic ◽  
Stochastic Linear System ◽  
And Control

We discuss a quadratic criterion optimal control problem for stochastic linear system with delay in both state and control variables. This problem will lead to a kind of generalized forward-backward stochastic differential equations (FBSDEs) with Itô’s stochastic delay equations as forward equations and anticipated backward stochastic differential equations as backward equations. Especially, we present the optimal feedback regulator for the time delay system via a new type of Riccati equations and also apply to a population optimal control problem.

scholarly journals A global method for some class of optimization and control problems

2000 ◽  
Vol 23 (9) ◽  
pp. 605-616 ◽  
Author(s):  
R. Enkhbat
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Convex Function ◽  
Control Problem ◽  
Optimality Condition ◽  
Optimal Control Problems ◽  
Control Problems ◽  
Global Method ◽  
Optimization And Control ◽  
And Control

The problem of maximizing a nonsmooth convex function over an arbitrary set is considered. Based on the optimality condition obtained by Strekalovsky in 1987 an algorithm for solving the problem is proposed. We show that the algorithm can be applied to the nonconvex optimal control problem as well. We illustrate the method by describing some computational experiments performed on a few nonconvex optimal control problems.

scholarly journals Optimal controllability for scalar conservation laws with convex flux

2014 ◽  
Vol 11 (03) ◽  
pp. 477-491 ◽  
Author(s):  
Adimurthi ◽  
Shyam Sundar Ghoshal ◽  
G. D. Veerappa Gowda
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Conservation Laws ◽  
Linear Problem ◽  
Optimal Solution ◽  
Scalar Conservation Laws ◽  
Existence Of A Solution ◽  
New Strategy ◽  
Scalar Conservation

The optimal control problem for Burgers equation was first considered by Castro, Palacios and Zuazua. They proved the existence of a solution and proposed a numerical scheme to capture an optimal solution via the method of "alternate decent direction". In this paper, we introduce a new strategy for the optimal control problem for scalar conservation laws with convex flux. We propose a new cost function and by the Lax–Oleinik explicit formula for entropy solutions, the nonlinear problem is converted to a linear problem. Exploiting this property, we prove the existence of an optimal solution and, by a backward construction, we give an algorithm to capture an optimal solution.

Optimal Design and Control of a Rotating Flexible Arm With ACLD Treatment

Aerospace ◽  
2003 ◽  
Author(s):  
E. H. K. Fung ◽  
D. T. W. Yau
Keyword(s):  
Optimal Control ◽  
Optimal Design ◽  
Shear Modulus ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Performance Index ◽  
Flexible Arm ◽  
Design Variables ◽  
And Control ◽  
Optimal Design And Control

In this paper, the optimal design and control of a rotating clamped-free flexible arm with fully covered active constrained layer damping (ACLD) treatment are studied. The arm is rotating in a horizontal plane in which the gravitational effect and rotary inertia are neglected. The piezo-sensor voltage is fed back to the piezo-actuator via a PD controller. Finite element method (FEM) in conjunction with Hamilton’s principle is used to derive the governing equations of motion of the system which takes into account the effects of centrifugal stiffening due to the rotation of the beam. The damping behavior of the viscoelastic material (VEM) is modeled using the complex shear modulus method. The design optimization objective is to maximize the sum of the first three open-loop modal damping ratios divided by the weight of the damping treatment. A genetic algorithm, differential evolution (DE), combined with a gradient-based algorithm, sequential quadratic programming (SQP), is used to determine the optimal design variables such as the thickness and storage shear modulus of the VEM core. Next for the determined optimal design variables, the optimal control problem is performed to determine the optimal control gains which minimize a quadratic performance index. The control performance index is normalized with respect to the initial conditions and the optimal control problem is posed to solve a min-max optimization problem. The results of this study will be useful in the optimal design and control of adaptive and smart rotating structures such as rotorcraft blades or robotic arms.

scholarly journals Optimal control theory with general constraints

1981 ◽  
Vol 23 (2) ◽  
pp. 115-126 ◽  
Author(s):  
John M. Blatt
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Optimal Control Theory ◽  
Time Dependent ◽  
Necessary Condition ◽  
Sufficient Condition ◽  
General Constraints ◽  
Elementary Methods ◽  
And Control

AbstractWe consider an optimal control problem with, possibly time-dependent, constraints on state and control variables, jointly. Using only elementary methods, we derive a sufficient condition for optimality. Although phrased in terms reminiscent of the necessary condition of Pontryagin, the sufficient condition is logically independent, as can be shown by a simple example.

scholarly journals On the Dynamics of Controlled Magnetohydrodynamic Systems

2008 ◽  
Vol 13 (3) ◽  
pp. 351-377 ◽  
Author(s):  
S. S. Ravindran
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Optimal Solution ◽  
Mhd Equations ◽  
Time Behavior ◽  
Long Time Behavior ◽  
Existence Of A Solution ◽  
Decay Properties ◽  
Long Time

In this paper we study the long time behavior of solutions for an optimal control problem associated with the viscous incompressible electrically conducting fluid modeled by the magnetohydrodynamic (MHD) equations in a bounded two dimensional domain through the adjustment of distributed controls. We first construct a quasi-optimal solution for the MHD systems which possesses exponential decay in time. We then derive some preliminary estimates for the long-time behavior of all admissible solutions of the MHD systems. Next we prove the existence of a solution for the optimal control problem for both finite and infinite time intervals. Finally, we establish the long-time decay properties of the solutions for the optimal control problem.

scholarly journals An optimal control problem related to a 3D-chemotaxis-Navier-Stokes model

2021 ◽  
Author(s):  
Juan López-Ríos ◽  
Élder J. Villamizar-Roa
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Optimal Solution ◽  
Strong Solutions ◽  
External Source ◽  
Navier Stokes ◽  
State Equations ◽  
Velocity Equation ◽  
Concentration Equation

In this paper, we study an optimal control problem associated to a 3D-chemotaxis-Navier-Stokes model. First we prove the existence of global weak solutions of the state equations with a linear reaction term on the chemical concentration equation, and an external source on the velocity equation, both acting as controls on the system. Second, we establish aregularity criterion to get global-in-time strong solutions. Finally, we prove the existence of an optimal solution, and we establish a first-order optimality condition.

A morley finite element method for an elliptic distributed optimal control problem with pointwise state and control constraints

2018 ◽  
Vol 24 (3) ◽  
pp. 1181-1206 ◽  
Author(s):  
Susanne C. Brenner ◽  
Thirupathi Gudi ◽  
Kamana Porwal ◽  
Li-yeng Sung
Keyword(s):  
Finite Element Method ◽  
Optimal Control ◽  
Finite Element ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Control Constraints ◽  
Distributed Optimal Control ◽  
And Control ◽  
State And Control Constraints ◽  
Element Method

We design and analyze a Morley finite element method for an elliptic distributed optimal control problem with pointwise state and control constraints on convex polygonal domains. It is based on the formulation of the optimal control problem as a fourth order variational inequality. Numerical results that illustrate the performance of the method are also presented.

scholarly journals An Optimal Control Problem Governed by Nonlinear First Order Dynamic Equation on Time Scales

2020 ◽  
Vol 2020 ◽  
pp. 1-7
Author(s):  
Jian-Ping Sun ◽  
Qiu-Yan Ren ◽  
Ya-Hong Zhao
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Time Scales ◽  
Dynamic Equation ◽  
Optimal Solution ◽  
Control Policy ◽  
Controlled System ◽  
First Order ◽  
Nonlinear Controlled System

In this paper, we are concerned with a class of optimal control problem governed by nonlinear first order dynamic equation on time scales. By imposing some suitable conditions on the related functions, for any given control policy, we first obtain the existence of a unique solution for the nonlinear controlled system. Then, we study the existence of an optimal solution for the optimal control problem.

Sign in / Sign up

Export Citation Format

Share Document