Applied dynamic programming for optimization of dynamical systems:
Gespeichert in:
| Format: | Buch |
|---|---|
| Sprache: | English |
| Veröffentlicht: |
Philadelphia
SIAM
2005
|
| Schriftenreihe: | Advances in design and control
9 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | Includes bibliographical references and index |
| Beschreibung: | XVIII, 260 S. graph. Darst. |
| ISBN: | 0898715865 |
Internformat
MARC
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| 245 | 1 | 0 | |a Applied dynamic programming for optimization of dynamical systems |c Rush D. Robinett ... |
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| 500 | |a Includes bibliographical references and index | ||
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Datensatz im Suchindex
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| adam_text | APPLIED DYNAMIC PROGRAMMING FOR OPTIMIZATION OF DYNAMICAL SYSTEMS RUSH
D. ROBINETT III SANDIA NATIONAL LABORATORIES ALBUQUERQUE, NEW MEXICO
DAVID G.WILSON SANDIA NATIONAL LABORATORIES ALBUQUERQUE, NEW MEXICO G.
RICHARD EISLER SANDIA NATIONAL LABORATORIES ALBUQUERQUE, NEW MEXICO JOHN
E. HURTADO TEXAS A&M UNIVERSITY COLLEGE STATION,TEXAS SJHJTL SOCIETY FOR
INDUSTRIAL AND APPLIED MATHEMATICS PHILADELPHIA CONTENTS LIST OF FIGURES
IX LIST OF TABLES XIII PREFACE XV 1 INTRODUCTION 1 1.1 KEY ROLE OF
DYNAMIC PROGRAMMING IN CONTROL DESIGN 1 1.2 ILLUSTRATIVE APPLICATIONS 2
1.3 SUMMARY 7 2 CONSTRAINED OPTIMIZATION 9 2.1 INTRODUCTION 9 2.1.1
NOMENCLATURE FOR ITERATIVE OPTIMIZATION METHODS .... 9 2.2 UNCONSTRAINED
OPTIMIZATION*THE DESCENT PROPERTY 10 2.3 INCLUDING THE CONSTRAINTS 13
2.3.1 EQUALITY CONSTRAINTS 13 2.3.2 INEQUALITY CONSTRAINTS AND THE
KARUSH-KUHN-TUCKER CONDITIONS 14 2.4 IMPROVING THE SEARCH WITH
SECOND-ORDER METHODS 16 2.4.1 NEWTON S METHOD 16 2.4.2 UPDATING THE
HESSIAN FOR CURVATURE INPUT 17 2.5 THE QUADRATIC PROGRAMMING PROBLEM 19
2.5.1 SOLVING THE LINEAR SYSTEM OF UNKNOWNS 19 2.5.2 A MERIT FUNCTION
FOR ONE-DIMENSIONAL SEARCH 21 2.5.3 A MEASURE OF CONVERGENCE AND THE
RECURSIVE QUADRATIC PROGRAMMING ALGORITHM 21 2.6 APPLICATIONS OF
CONSTRAINED MINIMIZATION 23 2.6.1 IMPLEMENTATION OF THE RECURSIVE
QUADRATIC PROGRAMMING ALGORITHM 23 2.6.2 OPTIMIZING EFFICIENCIES IN THE
LASER WELDING PROCESS . . 24 2.6.3 MAXIMUM TERMINAL VELOCITY FOR
HYPERSONIC STANDOFF MISSILES 29 V VI CONTENTS 2.6.4 OPTIMAL SLEW
MANEUVERS FOR SPACE TELESCOPE ATTITUEDE CONTROL 37 2.7 SUMMARY 42 3
INTRODUCTION TO DYNAMIC PROGRAMMING 45 3.1 INTRODUCTION 45 3.2 DISCRETE
DYNAMIC PROGRAMMING 45 3.2.1 APPLICATION OF DISCRETE DYNAMIC PROGRAMMING
TO DATA SMOOTHING 47 3.2.2 APPLICATION OF DISCRETE DYNAMIC PROGRAMMING
TO DISCRETE-TIME OPTIMAL CONTROL PROBLEMS 50 3.2.3 IMPLEMENTATION
DETAILS 52 3.3 A NONLINEAR OPTIMAL CONTROL PROBLEM WITH CONSTRAINTS 57
3.4 SUMMARY 65 4 ADVANCED DYNAMIC PROGRAMMING 67 4.1 INTRODUCTION 67 4.2
A DYNAMIC PROGRAMMING APPROACH TO ROCKET GUIDANCE PROBLEMS . . 67 4.2.1
PHYSICAL MODEL 69 4.2.2 GUIDANCE PROBLEM 70 4.2.3 TRANSFORMATION OF THE
GUIDANCE PROBLEM 72 4.2.4 DYNAMIC PROGRAMMING SOLUTION 74 4.2.5
NUMERICAL SIMULATION RESULTS 75 4.3 SEQUENTIAL QUADRATIC PROGRAMMING
IMPLEMENTATIONS FOR EQUALITY-CONSTRAINED OPTIMAL CONTROL 77 4.3.1 FIXED
FINAL TIME PROBLEMS 77 4.3.2 DERIVATION OF RECURSIVE EQUATIONS 81 4.3.3
CONSTRAINT EQUATIONS 83 4.3.4 ALGORITHM FOR PI 84 4.3.5 FREE FINAL TIME
PROBLEMS 85 4.3.6 ALGORITHM FOR P2 86 4.3.7 PRACTICAL ISSUES 86 4.3.8
EXAMPLE PROBLEMS 87 4.4 A DYNAMIC PROGRAMMING METHOD FOR CONSTRAINED
OPTIMAL CONTROL . . 96 4.4.1 PROBLEM FORMULATION 97 4.4.2 SEQUENTIAL
QUADRATIC PROGRAMMING SUBPROBLEM FORMULATION 98 4.4.3 INTERIOR POINT
METHODS 100 4.4.4 EQUIVALENT PROBLEM FORMULATION 102 4.4.5 DETAILS OF
ALGORITHM 105 4.4.6 EXAMPLE PROBLEMS 108 4.5 SUMMARY 114 5 APPLIED CASE
STUDIES 117 5.1 INTRODUCTION 117 5.2 CASE STUDY 1: ROTARY JIB CRANE 118
VII 5.2.1 INTRODUCTION 118 5.2.2 MODEL DEVELOPMENT 119 5.2.3
OPTIMIZATION DESIGNS 124 5.2.4 IMPLEMENTATION ISSUES 125 5.2.5 NUMERICAL
SIMULATION RESULTS 126 5.2.6 CASE STUDY 1 DISCUSSION
(SUMMARY/CONCLUSIONS) .... 132 5.3 CASE STUDY 2: SLEWING FLEXIBLE LINK
134 5.3.1 INTRODUCTION 134 5.3.2 MODEL DEVELOPMENT 136 5.3.3
OPTIMIZATION FEEDFORWARD COMMAND DESIGN 142 5.3.4 IMPLEMENTATION ISSUES
145 5.3.5 NUMERICAL SIMULATION RESULTS 146 5.3.6 CASE STUDY 2 DISCUSSION
(SUMMARY/CONCLUSIONS) .... 150 5.4 CASE STUDY 3: FLEXIBLE PLANAR ARM 151
5.4.1 INTRODUCTION 151 5.4.2 MODEL DEVELOPMENT 152 5.4.3 DYNAMIC
PROGRAMMING OPTIMIZATION DESIGN 162 5.4.4 IMPLEMENTATION ISSUES 163
5.4.5 NUMERICAL SIMULATION RESULTS 163 5.4.6 CASE STUDY 3 DISCUSSION
(SUMMARY/CONCLUSIONS) .... 167 5.5 CASE STUDY 4: MINIMUM-TIME MANEUVERS
OF RIGID SYSTEMS 170 5.5.1 INTRODUCTION 170 5.5.2 THE CLASSIC DOUBLE
INTEGRATOR EXAMPLE 171 5.5.3 THREE-AXIS MANEUVERS OF A SYMMETRIE
SPACECRAFT .... 173 5.5.4 CASE STUDY 4 DISCUSSION (SUMMARY/CONCLUSIONS)
.... 177 5.6 CASE STUDY 5: MAXIMUM-RADIUS ORBIT TRANSFER 177 5.6.1
INTRODUCTION 177 5.6.2 DYNAMICAL MODEL 178 5.6.3 SOLUTION USING DYNAMIC
PROGRAMMING/INTERIOR POINT . . 178 5.6.4 CASE STUDY 5 DISCUSSION
(SUMMARY/CONCLUSIONS) .... 179 5.7 CASE STUDY 6: PUMA 560 INDUSTRIAL
MANIPULATOR 180 5.7.1 INTRODUCTION 180 5.7.2 MODEL DEVELOPMENT 180 5.7.3
DYNAMIC PROGRAMMING OPTIMIZATION DESIGN 184 5.7.4 IMPLEMENTATION ISSUES
185 5.7.5 NUMERICAL SIMULATION RESULTS 186 5.7.6 CASE STUDY 6 DISCUSSION
(SUMMARY/CONCLUSIONS) .... 189 5.8 SUMMARY 189 MATHEMATICAL SUPPLEMENT
191 A.L DETERMINATION OF THE STATE TRANSITION MATRICES 191 A.2 EXAMPLE
4.3 NUMERICAL APPROACH 192 A.3 MODIFIED DYNAMIC PROGRAMMING ALGORITHM
194 APPLIED CASE STUDIES*MATLAB SOFTWARE ADDENDUM 197 B.L CASE STUDY 1
DRIVER FUNCTIONS AND SCRIPT FILES 197 VIII CONTENTS B.L.L ROTARY JIB
CRANE NUMERICAL SIMULATIONS CODE 197 B. 1.2 DYNAMIC
PROGRAMMING/INTERIOR-POINT DRIVER, COST, EQUALITY, INEQUALITY, AND
DYNAMICS CODE 202 B.2 CASE STUDY 2 DRIVER FUNCTIONS AND SCRIPT FILES 205
B.2.1 SLEWING FLEXIBLE LINK NUMERICAL SIMULATIONS CODE . . .205 B.2.2
DYNAMIC PROGRAMMING/INTERIOR-POINT DRIVER, COST, EQUALITY, INEQUALITY,
AND DYNAMICS CODE 209 B.2.3 FININCON DRIVER, COST, CONSTRAINTS, AND
DYNAMICS CODE .215 B.3 CASE STUDY 3 DRIVER FUNCTIONS AND SCRIPT FILES
219 B. 3.1 DYNAMIC PROGRAMMING/INTERIOR-POINT DRIVER, COST, EQUALITY,
INEQUALITY, AND DYNAMICS CODE 219 B.4 CASE STUDY 4 DRIVER FUNCTIONS AND
SCRIPT FILES 225 B.4.1 DYNAMIC PROGRAMMING/INTERIOR-POINT DRIVER, COST,
EQUALITY, INEQUALITY, AND DYNAMICS CODE 225 B.5 CASE STUDY 5 DRIVER
FUNCTIONS AND SCRIPT FILES 229 B.5.1 DYNAMIC PROGRAMMING/INTERIOR-POINT
DRIVER, COST, EQUALITY, INEQUALITY, AND DYNAMICS CODE 229 B.6 CASE STUDY
6 DRIVER FUNCTIONS AND SCRIPT FILES 233 B.6.1 DYNAMIC
PROGRAMMING/INTERIOR-POINT DRIVER, COST, EQUALITY, INEQUALITY, AND
DYNAMICS CODE 233 B.6.2 PUMA560 DYNAMIC EQUATIONS OF MOTION C-CODE ....
239 B.7 DISCRETE DYNAMIC PROGRAMMING STANDALONE CODE*DISCRETE-TIME
OPTIMAL CONTROL PROBLEM 246 BIBLIOGRAPHY 251 INDEX 259
|
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| ctrlnum | (OCoLC)634667028 (DE-599)BVBBV019856996 |
| discipline | Mathematik |
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| indexdate | 2024-07-09T20:07:43Z |
| institution | BVB |
| isbn | 0898715865 |
| language | English |
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| owner_facet | DE-20 DE-703 |
| physical | XVIII, 260 S. graph. Darst. |
| publishDate | 2005 |
| publishDateSearch | 2005 |
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| publisher | SIAM |
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| series | Advances in design and control |
| series2 | Advances in design and control |
| spelling | Applied dynamic programming for optimization of dynamical systems Rush D. Robinett ... Philadelphia SIAM 2005 XVIII, 260 S. graph. Darst. txt rdacontent n rdamedia nc rdacarrier Advances in design and control 9 Includes bibliographical references and index Dynamic programming Dynamische Optimierung (DE-588)4125677-3 gnd rswk-swf Dynamisches System (DE-588)4013396-5 gnd rswk-swf Dynamische Optimierung (DE-588)4125677-3 s Dynamisches System (DE-588)4013396-5 s DE-604 Robinett, Rush D. Sonstige oth Advances in design and control 9 (DE-604)BV021715022 9 GBV Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=013181574&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Applied dynamic programming for optimization of dynamical systems Advances in design and control Dynamic programming Dynamische Optimierung (DE-588)4125677-3 gnd Dynamisches System (DE-588)4013396-5 gnd |
| subject_GND | (DE-588)4125677-3 (DE-588)4013396-5 |
| title | Applied dynamic programming for optimization of dynamical systems |
| title_auth | Applied dynamic programming for optimization of dynamical systems |
| title_exact_search | Applied dynamic programming for optimization of dynamical systems |
| title_full | Applied dynamic programming for optimization of dynamical systems Rush D. Robinett ... |
| title_fullStr | Applied dynamic programming for optimization of dynamical systems Rush D. Robinett ... |
| title_full_unstemmed | Applied dynamic programming for optimization of dynamical systems Rush D. Robinett ... |
| title_short | Applied dynamic programming for optimization of dynamical systems |
| title_sort | applied dynamic programming for optimization of dynamical systems |
| topic | Dynamic programming Dynamische Optimierung (DE-588)4125677-3 gnd Dynamisches System (DE-588)4013396-5 gnd |
| topic_facet | Dynamic programming Dynamische Optimierung Dynamisches System |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=013181574&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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