Optimal control, observers and integrators in adaptive optics

Data-Driven Optimal Control for Adaptive Optics

Optimal control law for classical and multiconjugate adaptive optics.

Classical adaptive optics (AO) is now a widespread technique for high-resolution imaging with astronomical ground-based telescopes. It generally uses simple and efficient control algorithms. Multiconjugate adaptive optics (MCAO) is a more recent and very promising technique that should extend the corrected field of view. This technique has not yet been experimentally validated, but simulations ...

Discrete variational integrators and optimal control theory

A geometric derivation of numerical integrators for optimal control problems is proposed. It is based in the classical technique of generating functions adapted to the special features of optimal control problems.

Variational Collision Integrators and Optimal Control

This paper presents a methodology for generating locally optimal control policies for mechanical systems that undergo collisions at point contacts. Principles of nonsmooth mechanics for rigid bodies are used in both continuous and discrete time, and provide impact models for a variety of collision behaviors. The discrete Euler-Lagrange (DEL) equations that follow from the discrete time analyses...

Variational collision integrators in forward dynamics and optimal control

The numerical simulation of multibody dynamics often involves constraints of various forms. First of all, we present a structure preserving integrator for mechanical systems with holonomic (bilateral) and unilateral contact constraints, the latter being in the form of a non-penetration condition. The scheme is based on a discrete variant of Hamilton’s principle in which both the discrete trajec...