Search results
Results from the WOW.Com Content Network
Model predictive control (MPC) is an advanced method of process control that is used to control a process while satisfying a set of constraints. It has been in use in the process industries in chemical plants and oil refineries since the 1980s.
Optimal control problem benchmark (Luus) with an integral objective, inequality, and differential constraint. Optimal control is the use of mathematical optimization to obtain a policy that is constrained by differential (=), equality (() =), or inequality (()) equations and minimizes an objective/reward function (()). The basic optimal control ...
Depending on the configuration, open-chain robotic manipulators require a degree of trajectory optimization. For instance, a robotic arm with 7 joints and 7 links (7-DOF) is a redundant system where one cartesian position of an end-effector can correspond to an infinite number of joint angle positions, thus this redundancy can be used to optimize a trajectory to, for example, avoid any ...
The constraints on the system dynamics can be adjoined to the Lagrangian by introducing time-varying Lagrange multiplier vector , whose elements are called the costates of the system. This motivates the construction of the Hamiltonian H {\displaystyle H} defined for all t ∈ [ 0 , T ] {\displaystyle t\in [0,T]} by:
Alternatively, if the constraints are all equality constraints and are all linear, they can be solved for some of the variables in terms of the others, and the former can be substituted out of the objective function, leaving an unconstrained problem in a smaller number of variables.
Inspired by—but distinct from—the Hamiltonian of classical mechanics, the Hamiltonian of optimal control theory was developed by Lev Pontryagin as part of his maximum principle. [2] Pontryagin proved that a necessary condition for solving the optimal control problem is that the control should be chosen so as to optimize the Hamiltonian. [3]
Robust model predictive control is a more conservative method which considers the worst scenario in the optimization procedure. However, this method, similar to other robust controls, deteriorates the overall controller's performance and also is applicable only for systems with bounded uncertainties. The alternative method, SMPC, considers soft ...
Multi-objective optimization or Pareto optimization (also known as multi-objective programming, vector optimization, multicriteria optimization, or multiattribute optimization) is an area of multiple-criteria decision making that is concerned with mathematical optimization problems involving more than one objective function to be optimized simultaneously.