نتایج جستجو برای: hjb pde

تعداد نتایج: 9019  

2009
Keith Dupree Norman Fitz-Coy

of Dissertation Presented to the Graduate School of the University of Florida in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy OPTIMAL CONTROL OF UNCERTAIN EULER-LAGRANGE SYSTEMS By Keith Dupree May 2009 Chair: Warren E. Dixon Major: Mechanical Engineering Optimal control theory involves the design of controllers that can satisfy some tracking or regulation cont...

Journal: :Automatica 2011
Keith Dupree Parag M. Patre Zachary D. Wilcox Warren E. Dixon

A sufficient condition to solve an optimal control problem is to solve the Hamilton–Jacobi–Bellman (HJB) equation. However, finding a value function that satisfies the HJB equation for a nonlinear system is challenging. For an optimal control problem when a cost function is provided a priori, previous efforts have utilized feedback linearization methods which assume exact model knowledge, or ha...

2013
Olivier Bokanowski Nicolas Forcadel Hasnaa Zidani

In the present paper, we consider nonlinear optimal control problems with constraints on the state of the system. We are interested in the characterization of the value function without any controllability assumption. In the unconstrained case, it is possible to derive a characterization of the value function by means of a Hamilton-Jacobi-Bellman (HJB) equation. This equation expresses the beha...

Journal: :SIAM J. Control and Optimization 2004
Vivek S. Borkar Amarjit Budhiraja

Recently in [8] an ergodic control problem for a class of diffusion processes, constrained to take values in a polyhedral cone, was considered. The main result of that paper was that under appropriate conditions on the model, there is a Markov control for which the infimum of the cost function is attained. In the current work we characterize the value of the ergodic control problem via a suitab...

Journal: :Computers & Graphics 2006
Hassan Ugail

A method for trimming surfaces generated as solutions to Partial Differential Equations (PDEs) is presented. The work we present here utilises the 2D parameter space on which the trim curves are defined whose projection on the parametrically represented PDE surface is then trimmed out. To do this we define the trim curves to be a set of boundary conditions which enable us to solve a low order e...

2008
A. Woodland H. Ugail F. Labrosse

This paper presents a method to extend PDE surfaces to high dimensional spaces. We review a common existing analytic solution, and show how it can be used straightforwardly to increase the dimension of the space the surface is embedded within. We then further develop a numerical scheme suitable for increasing the number of variables that parametrise the surface, and investigate some of the prop...

2014
Zhanyong Zou Z. Y. Zou

In this paper we propose a relaxation scheme for solving discrete HJB equations based on scheme II [1] of Lions and Mercier. The convergence of the new scheme has been established. Numerical example shows that the scheme is efficient.

Journal: :Journal of Scientific Computing 2022

In the past decade, there are many works on finite element methods for fully nonlinear Hamilton–Jacobi–Bellman (HJB) equations with Cordes condition. The linearised systems have large condition numbers, which depend not only mesh size but also parameters in This paper is concerned design and analysis of auxiliary space preconditioners a $$C^0$$ discretization HJB [Calcolo, 58, 2021]. Based stab...

Journal: :Journal of Computer Science and Cybernetics 2023

This paper introduces an optimal tracking controller for robot manipulators with saturation torques. The model is presented as a strict-feedback nonlinear system. Firstly, the position control problem transformed into problem. Subsequently, saturated law designed. determined through solution of Hamilton-Jacobi-Bellman (HJB) equation. We use reinforcement learning algorithm only one neural netwo...

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