Search results for "Mathematics - Optimization and Control"
showing 10 items of 52 documents
A solution of the minimum-time velocity planning problem based on lattice theory
2018
For a vehicle on an assigned path, we find the minimum-time speed law that satisfies kinematic and dynamic constraints, related to maximum speed and maximum tangential and transversal acceleration. We present a necessary and sufficient condition for the feasibility of the problem and a simple operator, based on the solution of two ordinary differential equations, which computes the optimal solution. Theoretically, we show that the problem feasible set, if not empty, is a lattice, whose supremum element corresponds to the optimal solution.
Controlled polyhedral sweeping processes: existence, stability, and optimality conditions
2021
This paper is mainly devoted to the study of controlled sweeping processes with polyhedral moving sets in Hilbert spaces. Based on a detailed analysis of truncated Hausdorff distances between moving polyhedra, we derive new existence and uniqueness theorems for sweeping trajectories corresponding to various classes of control functions acting in moving sets. Then we establish quantitative stability results, which provide efficient estimates on the sweeping trajectory dependence on controls and initial values. Our final topic, accomplished in finite-dimensional state spaces, is deriving new necessary optimality and suboptimality conditions for sweeping control systems with endpoint constrain…
Duality theory for multi-marginal optimal transport with repulsive costs in metric spaces
2018
In this paper we extend the duality theory of the multi-marginal optimal transport problem for cost functions depending on a decreasing function of the distance (not necessarily bounded). This class of cost functions appears in the context of SCE Density Functional Theory introduced in "Strong-interaction limit of density-functional theory" by M. Seidl.
Consensus for switched networks with unknown but bounded disturbances
2006
We consider stationary consensus protocols for networks of dynamic agents with switching topologies. The measure of the neighbors' state is affected by Unknown But Bounded disturbances. Here the main contribution is the formulation and solution of what we call the $\epsilon$-consensus problem, where the states are required to converge in a tube of ray $\epsilon$ asymptotically or in finite time.
Graph-based algorithms for the efficient solution of a class of optimization problems
2018
In this paper, we address a class of specially structured problems that include speed planning, for mobile robots and robotic manipulators, and dynamic programming. We develop two new numerical procedures, that apply to the general case and to the linear subcase. With numerical experiments, we show that the proposed algorithms outperform generic commercial solvers.
Exact controllability to trajectories for entropy solutions to scalar conservation laws in several space dimensions
2019
We describe a new method which allows us to obtain a result of exact controllability to trajectories of multidimensional conservation laws in the context of entropy solutions and under a mere non-degeneracy assumption on the flux and a natural geometric condition.
A product space reformulation with reduced dimension for splitting algorithms
2021
AbstractIn this paper we propose a product space reformulation to transform monotone inclusions described by finitely many operators on a Hilbert space into equivalent two-operator problems. Our approach relies on Pierra’s classical reformulation with a different decomposition, which results in a reduction of the dimension of the outcoming product Hilbert space. We discuss the case of not necessarily convex feasibility and best approximation problems. By applying existing splitting methods to the proposed reformulation we obtain new parallel variants of them with a reduction in the number of variables. The convergence of the new algorithms is straightforwardly derived with no further assump…
Symmetry breaking in a constrained cheeger type isoperimetric inequality
2015
We study the optimal constant in a Sobolev inequality for BV functions with zero mean value and vanishing outside a bounded open set. We are interested in finding the best possible embedding constant in terms of the measure of the domain alone. We set up an optimal shape problem and we completely characterize the behavior of optimal domains.
An Adaptive Alternating Direction Method of Multipliers
2021
AbstractThe alternating direction method of multipliers (ADMM) is a powerful splitting algorithm for linearly constrained convex optimization problems. In view of its popularity and applicability, a growing attention is drawn toward the ADMM in nonconvex settings. Recent studies of minimization problems for nonconvex functions include various combinations of assumptions on the objective function including, in particular, a Lipschitz gradient assumption. We consider the case where the objective is the sum of a strongly convex function and a weakly convex function. To this end, we present and study an adaptive version of the ADMM which incorporates generalized notions of convexity and penalty…
Convergent dynamics of optimal nonlinear damping control
2021
Following Demidovich's concept and definition of convergent systems, we analyze the optimal nonlinear damping control, recently proposed [1] for the second-order systems. Targeting the problem of output regulation, correspondingly tracking of $\mathcal{C}^1$-trajectories, it is shown that all solutions of the control system are globally uniformly asymptotically stable. The existence of the unique limit solution in the origin of the control error and its time derivative coordinates are shown in the sense of Demidovich's convergent dynamics. Explanative numerical examples are also provided along with analysis.