|
DIDO (software)
DIDO ( ) is a MATLAB optimal control toolbox for solving general-purpose optimal control problems.Ross, I. M. ''A Primer on Pontryagin's Principle in Optimal Control'', Second Edition, Collegiate Publishers, San Francisco, 2015.Eren, H., "Optimal Control and the Software," ''Measurements, Instrumentation, and Sensors Handbook'', Second Edition, CRC Press, 2014, pp.92-1-16. It is widely used in academia, industry, and NASA. Hailed as a breakthrough software, DIDO is based on the pseudospectral optimal control theory of Ross and Fahroo. The latest enhancements to DIDO are described in Ross. Usage DIDO utilizes trademarked expressions and objects that facilitate a user to quickly formulate and solve optimal control problems.A. M. Hawkins, ''Constrained Trajectory Optimization of a Soft Lunar Landing From a Parking Orbit,'' S.M. Thesis, Dept. of Aeronautics and Astronautics, Massachusetts Institute of Technology, 2005. http://dspace.mit.edu/handle/1721.1/32431 Rapidity in formulation ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Optimal Control
Optimal control theory is a branch of mathematical optimization that deals with finding a control for a dynamical system over a period of time such that an objective function is optimized. It has numerous applications in science, engineering and operations research. For example, the dynamical system might be a spacecraft with controls corresponding to rocket thrusters, and the objective might be to reach the moon with minimum fuel expenditure. Or the dynamical system could be a nation's economy, with the objective to minimize unemployment; the controls in this case could be fiscal and monetary policy. A dynamical system may also be introduced to embed operations research problems within the framework of optimal control theory. Optimal control is an extension of the calculus of variations, and is a mathematical optimization method for deriving control policies. The method is largely due to the work of Lev Pontryagin and Richard Bellman in the 1950s, after contributions to calc ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Optimization Toolbox
Optimization Toolbox is an optimization software package developed by MathWorks. It is an add-on product to MATLAB, and provides a library of solvers that can be used from the MATLAB environment. The toolbox was first released for MATLAB in 1990. Optimization algorithms Optimization Toolbox has algorithms for: * Linear programming * Mixed-integer linear programming * Quadratic programming * Nonlinear programming * Linear least squares * Nonlinear least squares * Nonlinear equation solving * Multi-objective optimization Applications Engineering Optimization Optimization Toolbox solvers are used for engineering applications in MATLAB, such as optimal control and optimal mechanical designs. Parameter Estimation Optimization can help with fitting a model to data, where the goal is to identify the model parameters that minimize the difference between simulated and experimental data. Common parameter estimation problems that are solved with Optimization Toolbox include ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Ross' π Lemma
Ross' lemma, named after I. Michael Ross, is a result in computational optimal control. Based on generating Carathéodory- solutions for feedback control, Ross' -lemma states that there is fundamental time constant within which a control solution must be computed for controllability and stability. This time constant, known as Ross' time constant, is proportional to the inverse of the Lipschitz constant of the vector field that governs the dynamics of a nonlinear control system. Theoretical implications The proportionality factor in the definition of Ross' time constant is dependent upon the magnitude of the disturbance on the plant and the specifications for feedback control. When there are no disturbances, Ross' -lemma shows that the open-loop optimal solution is the same as the closed-loop one. In the presence of disturbances, the proportionality factor can be written in terms of the Lambert W-function. Practical applications In practical applications, Ross' time constant ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Ross–Fahroo Lemma
Named after I. Michael Ross and F. Fahroo, the Ross–Fahroo lemma is a fundamental result in optimal control theory. I. M. Ross and F. Fahroo, A Pseudospectral Transformation of the Covectors of Optimal Control Systems, Proceedings of the First IFAC Symposium on System Structure and Control, Prague, Czech Republic, 29–31 August 2001. I. M. Ross and F. Fahroo, Discrete Verification of Necessary Conditions for Switched Nonlinear Optimal Control Systems, ''Proceedings of the American Control Conference, Invited Paper'', June 2004, Boston, MA.N. Bedrossian, M. Karpenko, and S. Bhatt, "Overclock My Satellite: Sophisticated Algorithms Boost Satellite Performance on the Cheap", ''IEEE Spectrum'', November 2012. It states that dualization and discretization are, in general, non-commutative operations. The operations can be made commutative by an application of the covector mapping principle. Description of the theory A continuous-time optimal control problem is information rich. A nu ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Legendre Pseudospectral Method
The Legendre pseudospectral method for optimal control problems is based on Legendre polynomials. It is part of the larger theory of pseudospectral optimal control, a term coined by Ross. A basic version of the Legendre pseudospectral was originally proposed by Elnagar and his coworkers in 1995.G. Elnagar, M. A. Kazemi, and M. Razzaghi, "The Pseudospectral Legendre Method for Discretizing Optimal Control Problems," ''IEEE Transactions on Automatic Control,'' 40:1793–1796, 1995. Since then, Ross, Fahroo and their coworkers have extended, generalized and applied the method for a large range of problems.Q. Gong, W. Kang, N. Bedrossian, F. Fahroo, P. Sekhavat and K. Bollino, "Pseudospectral Optimal Control for Military and Industrial Applications," ''46th IEEE Conference on Decision and Control,'' New Orleans, LA, pp. 4128–4142, Dec. 2007. An application that has received wide publicity is the use of their method for generating real time trajectories for the International Space ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Flat Pseudospectral Method
The flat pseudospectral method is part of the family of the Ross–Fahroo pseudospectral methods introduced by Ross and Fahroo. Ross, I. M. and Fahroo, F., Pseudospectral Methods for the Optimal Motion Planning of Differentially Flat Systems” IEEE Transactions on Automatic Control, Vol.49, No.8, pp. 1410–1413, August 2004. Ross, I. M. and Fahroo, F., A Unified Framework for Real-Time Optimal Control” Proceedings of the IEEE Conference on Decision and Control, Maui, HI, December, 2003. The method combines the concept of differential flatness with pseudospectral optimal control to generate outputs in the so-called flat space. Fliess, M., Lévine, J., Martin, Ph., and Rouchon, P., Flatness and defect of nonlinear systems: Introductory theory and examples” International Journal of Control, vol. 61, no. 6, pp. 1327–1361, 1995. Rathinam, M. and Murray, R. M., Configuration flatness of Lagrangian systems underactuated by one control SIAM Journal on Control and Optimiz ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Covector Mapping Principle
The covector mapping principle is a special case of Riesz' representation theorem, which is a fundamental theorem in functional analysis. The name was coined by Ross and co-workers,Ross, I. M., “A Historical Introduction to the Covector Mapping Principle,” Proceedings of the 2005 AAS/AIAA Astrodynamics Specialist Conference, August 7–11, 2005 Lake Tahoe, CA. AAS 05-332.Ross, I. M. and Fahroo, F., “Legendre Pseudospectral Approximations of Optimal Control Problems,” Lecture Notes in Control and Information Sciences, Vol. 295, Springer-Verlag, New York, 2003, pp 327–342.Ross, I. M. and Fahroo, F., “Discrete Verification of Necessary Conditions for Switched Nonlinear Optimal Control Systems,” Proceedings of the American Control Conference, June 2004, Boston, MARoss, I. M. and Fahroo, F., “A Pseudospectral Transformation of the Covectors of Optimal Control Systems,” Proceedings of the First IFAC Symposium on System Structure and Control, Prague, Czech Republic, 29 ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Chebyshev Pseudospectral Method
The Chebyshev pseudospectral method for optimal control problems is based on Chebyshev polynomials of the first kind. It is part of the larger theory of pseudospectral optimal control, a term coined by Ross. Unlike the Legendre pseudospectral method, the Chebyshev pseudospectral (PS) method does not immediately offer high-accuracy quadrature solutions. Consequently, two different versions of the method have been proposed: one by Elnagar et al., and another by Fahroo and Ross. The two versions differ in their quadrature techniques. The Fahroo–Ross method is more commonly used today due to the ease in implementation of the Clenshaw–Curtis quadrature technique (in contrast to Elnagar–Kazemi's cell-averaging method). In 2008, Trefethen showed that the Clenshaw–Curtis method was nearly as accurate as Gauss quadrature. This breakthrough result opened the door for a covector mapping theorem for Chebyshev PS methods. A complete mathematical theory for Chebyshev PS methods was fi ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Bellman Pseudospectral Method
The Bellman pseudospectral method is a pseudospectral method for optimal control based on Bellman's principle of optimality. It is part of the larger theory of pseudospectral optimal control, a term coined by Ross. The method is named after Richard E. Bellman. It was introduced by Ross et al.I. M. Ross, Q. Gong and P. Sekhavat, The Bellman pseudospectral method, AIAA/AAS Astrodynamics Specialist Conference and Exhibit, Honolulu, Hawaii, AIAA-2008-6448, August 18–21, 2008. first as a means to solve multiscale optimal control problems, and later expanded to obtain suboptimal solutions for general optimal control problems. Theoretical foundations The multiscale version of the Bellman pseudospectral method is based on the spectral convergence property of the Ross–Fahroo pseudospectral methods. That is, because the Ross–Fahroo pseudospectral method converges at an exponentially fast rate, pointwise convergence to a solution is obtained at very low number of nodes even when the so ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Calculus
Calculus, originally called infinitesimal calculus or "the calculus of infinitesimals", is the mathematical study of continuous change, in the same way that geometry is the study of shape, and algebra is the study of generalizations of arithmetic operations. It has two major branches, differential calculus and integral calculus; the former concerns instantaneous Rate of change (mathematics), rates of change, and the slopes of curves, while the latter concerns accumulation of quantities, and areas under or between curves. These two branches are related to each other by the fundamental theorem of calculus, and they make use of the fundamental notions of convergence (mathematics), convergence of infinite sequences and Series (mathematics), infinite series to a well-defined limit (mathematics), limit. Infinitesimal calculus was developed independently in the late 17th century by Isaac Newton and Gottfried Wilhelm Leibniz. Later work, including (ε, δ)-definition of limit, codify ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Isoperimetric Inequality
In mathematics, the isoperimetric inequality is a geometric inequality involving the perimeter of a set and its volume. In n-dimensional space \R^n the inequality lower bounds the surface area or perimeter \operatorname(S) of a set S\subset\R^n by its volume \operatorname(S), :\operatorname(S)\geq n \operatorname(S)^ \, \operatorname(B_1)^, where B_1\subset\R^n is a unit sphere. The equality holds only when S is a sphere in \R^n. On a plane, i.e. when n=2, the isoperimetric inequality relates the square of the circumference of a closed curve and the area of a plane region it encloses. '' Isoperimetric'' literally means "having the same perimeter". Specifically in \R ^2, the isoperimetric inequality states, for the length ''L'' of a closed curve and the area ''A'' of the planar region that it encloses, that : L^2 \ge 4\pi A, and that equality holds if and only if the curve is a circle. The isoperimetric problem is to determine a plane figure of the largest possible area whose ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Carthage
Carthage was the capital city of Ancient Carthage, on the eastern side of the Lake of Tunis in what is now Tunisia. Carthage was one of the most important trading hubs of the Ancient Mediterranean and one of the most affluent cities of the classical world. The city developed from a Canaanite Phoenician colony into the capital of a Punic empire which dominated large parts of the Southwest Mediterranean during the first millennium BC. The legendary Queen Alyssa or Dido, originally from Tyre, is regarded as the founder of the city, though her historicity has been questioned. According to accounts by Timaeus of Tauromenium, she purchased from a local tribe the amount of land that could be covered by an oxhide. As Carthage prospered at home, the polity sent colonists abroad as well as magistrates to rule the colonies. The ancient city was destroyed in the nearly-three year siege of Carthage by the Roman Republic during the Third Punic War in 146 BC and then re-developed as Roman Car ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
