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All Articles in Control Theory

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Voronoi-Based Coverage Control Of Heterogeneous Disk-Shaped Robots, Omur Arslan, Daniel E. Koditschek 2016 University of Pennsylvania

Voronoi-Based Coverage Control Of Heterogeneous Disk-Shaped Robots, Omur Arslan, Daniel E. Koditschek

Departmental Papers (ESE)

In distributed mobile sensing applications, networks of agents that are heterogeneous respecting both actuation as well as body and sensory footprint are often modelled by recourse to power diagrams — generalized Voronoi diagrams with additive weights. In this paper we adapt the body power diagram to introduce its “free subdiagram,” generating a vector field planner that solves the combined sensory coverage and collision avoidance problem via continuous evaluation of an associated constrained optimization problem. We propose practical extensions (a heuristic congestion manager that speeds convergence and a lift of the point particle controller to the more practical differential drive kinematics) that ...


Exact Robot Navigation Using Power Diagrams, Omur Arslan, Daniel E. Koditschek 2016 University of Pennsylvania

Exact Robot Navigation Using Power Diagrams, Omur Arslan, Daniel E. Koditschek

Departmental Papers (ESE)

We reconsider the problem of reactive navigation in sphere worlds, i.e., the construction of a vector field over a compact, convex Euclidean subset punctured by Euclidean disks, whose flow brings a Euclidean disk robot from all but a zero measure set of initial conditions to a designated point destination, with the guarantee of no collisions along the way. We use power diagrams, generalized Voronoi diagrams with additive weights, to identify the robot’s collision free convex neighborhood, and to generate the value of our proposed candidate solution vector field at any free configuration via evaluation of an associated convex ...


Principal Pivot Transforms Of Quasidefinite Matrices And Semidefinite Lagrangian Subspaces, Federico Poloni, Nataša Strabić 2016 University of Pisa

Principal Pivot Transforms Of Quasidefinite Matrices And Semidefinite Lagrangian Subspaces, Federico Poloni, Nataša Strabić

Electronic Journal of Linear Algebra

Lagrangian subspaces are linear subspaces that appear naturally in control theory applications, and especially in the context of algebraic Riccati equations. We introduce a class of semidefinite Lagrangian subspaces and show that these subspaces can be represented by a subset I ⊆ {1, 2, . . . , n} and a Hermitian matrix X ∈ C n×n with the property that the submatrix X II is negative semidefinite and the submatrix X I c I c is positive semidefinite. A matrix X with these definiteness properties is called I-semidefinite and it is a generalization of a quasidefinite matrix. Under mild hypotheses which hold true in ...


On The Robust Stability Of Polynomial Matrix Families, Taner Buyukkoroglu, Gokhan Celebi, Vakif Dzhafarov 2016 Anadolu University

On The Robust Stability Of Polynomial Matrix Families, Taner Buyukkoroglu, Gokhan Celebi, Vakif Dzhafarov

Electronic Journal of Linear Algebra

In this study, the problem of robust asymptotic stability of n by n polynomial matrix family, in both continuous-time and discrete-time cases, is considered. It is shown that in the continuous case the problem can be reduced to positivity of two specially constructed multivariable polynomials, whereas in the discrete-time case it is required three polynomials. A number of examples are given, where the Bernstein expansion method and sufficient conditions from [L.H. Keel and S.P. Bhattacharya. Robust stability via sign-definite decomposition. IEEE Transactions on Automatic Control, 56(1):140–145, 2011.] are applied to test positivity of the obtained ...


Procesy Cieplne I Aparaty (Lab), Wojciech M. Budzianowski 2016 Wroclaw University of Technology

Procesy Cieplne I Aparaty (Lab), Wojciech M. Budzianowski

Wojciech Budzianowski

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Inżynieria Chemiczna Lab., Wojciech M. Budzianowski 2016 Wroclaw University of Technology

Inżynieria Chemiczna Lab., Wojciech M. Budzianowski

Wojciech Budzianowski

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Optimal Control And Its Application To The Life-Cycle Savings Problem, Tracy A. Taylor 2016 Virginia Commonwealth University

Optimal Control And Its Application To The Life-Cycle Savings Problem, Tracy A. Taylor

Theses and Dissertations

Throughout the course of this thesis, we give an introduction to optimal control theory and its necessary conditions, prove Pontryagin's Maximum Principle, and present the life-cycle saving under uncertain lifetime optimal control problem. We present a very involved sensitivity analysis that determines how a change in the initial wealth, discount factor, or relative risk aversion coefficient may affect the model the terminal depletion of wealth time, optimal consumption path, and optimal accumulation of wealth path. Through simulation of the life-cycle saving under uncertain lifetime model, we are not only able to present the model dynamics through time, but also ...


Population Modeling For Resource Allocation And Antimicrobial Stewardship, Jason Bintz 2015 University of Tennessee - Knoxville

Population Modeling For Resource Allocation And Antimicrobial Stewardship, Jason Bintz

Doctoral Dissertations

This dissertation contains two types of population models with applications in conservation biology and epidemiology. In particular, it considers models for resource allocation and antimicrobial stewardship.

In a population model with a parabolic differential equation and density dependent growth, we study the problem of allocating resources to maximize the net benefit in the conservation of a single species while the cost of the resource allocation is minimized. The net benefit is measured in terms of maximizing population abundance and the goal of maximizing abundance is divided between the goal of maximizing the overall abundance across space and time and the ...


Mathematical Modeling And Optimal Control Of Alternative Pest Management For Alfalfa Agroecosystems, Cara Sulyok 2015 Ursinus College

Mathematical Modeling And Optimal Control Of Alternative Pest Management For Alfalfa Agroecosystems, Cara Sulyok

Mathematics Honors Papers

This project develops mathematical models and computer simulations for cost-effective and environmentally-safe strategies to minimize plant damage from pests with optimal biodiversity levels. The desired goals are to identify tradeoffs between costs, impacts, and outcomes using the enemies hypothesis and polyculture in farming. A mathematical model including twelve size- and time-dependent parameters was created using a system of non-linear differential equations. It was shown to accurately fit results from open-field experiments and thus predict outcomes for scenarios not covered by these experiments.

The focus is on the application to alfalfa agroecosystems where field experiments and data were conducted and provided ...


Optimal Control Of A Switched Autonomous System With Time Delay Arising In Fed-Batch Processes, Chongyang Liu 2015 Shandong Institute of Business and Technology

Optimal Control Of A Switched Autonomous System With Time Delay Arising In Fed-Batch Processes, Chongyang Liu

Chongyang Liu

In this paper, we propose a switched autonomous system with time delay to model the 1,3-propanediol (1,3-PD) production in a fed-batch process. Taking the switching instants and the terminal time as the control variables, we formulate a constrained time-delayed optimal control (CTOC) problem to optimize the 1,3-PD production process. Using a time-scaling transformation and parametrizing the switching instants into new parameters, an equivalent CTOC problem is investigated. A numerical solution method is then developed to seek the optimal control strategy. This method is based on the constraint transcription technique and the gradients of the cost functional together ...


A Contribution Toward Better Understanding Of Overbanking Tendency In Fixed-Wing Aircraft, Nihad E. Daidzic 2015 AAR Aerospace Consulting, LLC

A Contribution Toward Better Understanding Of Overbanking Tendency In Fixed-Wing Aircraft, Nihad E. Daidzic

Journal of Aviation Technology and Engineering

The phenomenon of overbanking tendency for a rigid-body, fixed-wing aircraft is investigated. Overbanking tendency is defined as a spontaneous, unbalanced rolling moment that keeps increasing an airplane’s bank angle in steep turns and must be arrested by opposite aileron action. As stated by the Federal Aviation Administration, the overbanking tendency may lead to a loss of control, especially in instrument meteorological conditions. It was found in this study that the speed differential over wing halves in horizontal turns indeed creates a rolling moment that achieves maximum values for bank angles between 45 and 55 degrees. However, this induced rolling ...


On Combining Neighbouring Extremals With Control Parameterization, Chongyang Liu, Qun Lin, Ryan Loxton, Kok Lay Teo 2015 Curtin University of Technology

On Combining Neighbouring Extremals With Control Parameterization, Chongyang Liu, Qun Lin, Ryan Loxton, Kok Lay Teo

Chongyang Liu

In this paper, we consider the neighbouring extremals for a class of optimal control problems with control constraints. We first solve the optimal control problem using control parameterization method to obtain the optimal open-loop control and the optimal reference state. Then, a neighbouring feedback control law is derived for small state perturbations caused by changes on reference state at switching times.


Nonlinear State-Dependent Impulsive System In Fed-Batch Culture And Its Optimal Control, Bangyu Shen, Xiaojing Wang, Chongyang Liu 2015 Shandong Institute of Business and Technology

Nonlinear State-Dependent Impulsive System In Fed-Batch Culture And Its Optimal Control, Bangyu Shen, Xiaojing Wang, Chongyang Liu

Chongyang Liu

In this paper, a nonlinear impulsive controlled system, in which the volume of feeding is taken as the control function, is proposed to formulate the fed-batch fermentation process.In the system, both impulsive moments and jumps size of state are state-dependent. Some important properties of the system are investigated. To maximize the concentration of target product at the terminal time, an optimal control model involving the nonlinear state-dependent impulsive controlled system is presented.The optimal control problem is subject to the continuous state inequality constraint and the control constraint. The existence of optimal control is also obtained. In order to ...


Horizontal Well’S Path Planning: An Optimal Switching Control, Zhaohua Gong, Kok Lay Teo, Chongyang Liu, Enmin Feng 2015 Curtin University of Technology

Horizontal Well’S Path Planning: An Optimal Switching Control, Zhaohua Gong, Kok Lay Teo, Chongyang Liu, Enmin Feng

Chongyang Liu

In this paper, we consider a three-dimensional horizontal well’s path planning problem, where the well’s path evolves as a combination of several constant-curvature smooth turn segments. The problem is formulated as an optimal switching control problem subject to continuous state inequality constraints. By applying the time-scaling transformation and constraint transcription in conjunction with local smooth approximation technique, the optimal switching control problem is approximated by a sequence of optimal parameter selection problems with only box constraints, each of which is solvable by gradient-based optimization techniques. The optimal path planning problems of the wells Ci-16-Cp146 and Jin27 in Liaohe ...


Inżynieria Chemiczna Ćw., Wojciech M. Budzianowski 2015 Wroclaw University of Technology

Inżynieria Chemiczna Ćw., Wojciech M. Budzianowski

Wojciech Budzianowski

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Tematyka Prac Doktorskich, Wojciech M. Budzianowski 2015 Wroclaw University of Technology

Tematyka Prac Doktorskich, Wojciech M. Budzianowski

Wojciech Budzianowski

No abstract provided.


Studying The Effects Of Non Oil Exports On Targeted Economic Growth In Iranian 5th Development Plan: A Computable General Equilibrium Approach, Rasoul Bakhsi Dastjerdi Dr., Reza Moosavi Mohseni Dr., Somayye Jafari 2014 Auckland University of Technology

Studying The Effects Of Non Oil Exports On Targeted Economic Growth In Iranian 5th Development Plan: A Computable General Equilibrium Approach, Rasoul Bakhsi Dastjerdi Dr., Reza Moosavi Mohseni Dr., Somayye Jafari

Reza Moosavi Mohseni

we investigate the effects of non oil export on Iran’s economic growth using a computable general equilibrium (CGE) and study which tradable sectors has a larger share in reaching to targeted growth rate 8% in 5th socio economic development plan. We calibrate the model by GAMS (with emphasis on foreign trade sector). Numerical solution to the model is based on Iran’s social accounting matrix (SAM). Results show that 2.03% of targeted economic growth rate is achieved by encouraging a 6% growth in export. It also be mentioned that industry and mine sector in Iran, has more influence ...


Zespół Energii Odnawialnej I Zrównoważonego Rozwoju (Eozr), Wojciech M. Budzianowski 2014 Wroclaw University of Technology

Zespół Energii Odnawialnej I Zrównoważonego Rozwoju (Eozr), Wojciech M. Budzianowski

Wojciech Budzianowski

No abstract provided.


Further Stabilization And Exact Observability Results For Voltage-Actuated Piezoelectric Beams With Magnetic Effects, Ahmet Ozkan Ozer 2014 Western Kentucky University

Further Stabilization And Exact Observability Results For Voltage-Actuated Piezoelectric Beams With Magnetic Effects, Ahmet Ozkan Ozer

Ahmet Ozkan Ozer

It is well known that magnetic energy of the piezoelectric beam is relatively small, and it does not change the overall dynamics. Therefore, the models, relying on electrostatic or quasi-static approaches, completely ignore the magnetic energy stored/produced in the beam. A single piezoelectric beam model without the magnetic effects is known to be exactly observable and exponentially stabilizable in the energy space. However, the model with the magnetic effects is proved to be not exactly observable/exponentially stabilizable in the energy space for almost all choices of material parameters. Moreover, even strong stability is not achievable for many values ...


Improving Airplane Touchdown Control By Utilizing The Adverse Elevator Effect, Nihad E. Daidzic Ph.D., Sc.D. 2014 AAR Aerospace Consulting, LLC

Improving Airplane Touchdown Control By Utilizing The Adverse Elevator Effect, Nihad E. Daidzic Ph.D., Sc.D.

International Journal of Aviation, Aeronautics, and Aerospace

The main objective of this original research article is to understand the short-term dynamic behavior of the transport-category airplane during landing flare elevator control application. Increasing the pitch angle to arrest the sink rate, the elevator will have to produce negative lift to rotate the airplane’s nose upward. This has an immediate adverse effect of initially accelerating airplane downward. A mathematical model of landing flare based on the flat-Earth longitudinal dynamics of rigid airplane was developed which is realistic only on very short time-scales as pitch stiffness and damping were neglected. Pilot control scenarios using impulse and step elevator ...


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