Optimal Decoupling Control Method and Its Application to a Ball Mill Coal-pulverizing System

Abstract-The conventional optimal tracking control method cannot realize decoupling control of linear systems with a strong coupling property. To solve this problem, in this paper, an optimal decoupling control method is proposed, which can simultaneousiy provide optimal performance. The optimal decoupling controller is composed of an inner-loop decoupling controller and an outer-loop optimal tracking controller. First, by introducing one virtual control variable, the original differential equation on state is converted to a generalized system on output. Then, by introducing the other virtual control variable, and viewing the coupling terms as the measurable disturbances, the generalized system is open-loop decoupled. Finally, for the decoupled system, the optimal tracking control method is used. It is proved that the decoupling control is optimal for a certain performance index. Simulations on a ball mill coal-pulverizing system are conducted. The results show the effectiveness and superiority of the proposed method as compared with the conventional optimal quadratic tracking （LQT） control method.

A new primal-dual interior-point algorithm for convex quadratic optimization

In this paper, a new primal-dual interior-point algorithm for convex quadratic optimization （CQO） based on a kernel function is presented. The proposed function has some properties that are easy for checking. These properties enable us to improve the polynomial complexity bound of a large-update interior-point method （IPM） to O（√n log nlog n/e）, which is the currently best known polynomial complexity bound for the algorithm with the large-update method. Numerical tests were conducted to investigate the behavior of the algorithm with different parameters p, q and θ, where p is the growth degree parameter, q is the barrier degree of the kernel function and θ is the barrier update parameter.

QUADRATIC OPTIMIZATION METHOD AND ITS APPLICATION ON OPTIMIZING MECHANISM PARAMETER

In order that the mechanism designed meets the requirements of kinematics with optimal dynamics behaviors, a quadratic optimization method is proposed based on the different characteristics of kinematic and dynamic optimization. This method includes two steps of optimization, that is, kinematic and dynamic optimization. Meanwhile, it uses the results of the kinematic optimization as the constraint equations of dynamic optimization. This method is used in the parameters optimization of transplanting mechanism with elliptic planetary gears of high-speed rice seedling transplanter with remarkable significance. The parameters spectrum, which meets to the kinematic requirements, is obtained through visualized human-computer interactions in the kinematics optimization, and the optimal parameters are obtained based on improved genetic algorithm in dynamic optimization. In the dynamic optimization, the objective function is chosen as the optimal＇ dynamic behavior and the constraint equations are from the results of the kinematic optimization, This method is suitable for multi-objective optimization when both the kinematic and dynamic performances act as objective functions.

Multiple phase detector of M-ary phase shift keying symbols in code division multiple access systems

A novel iterative technique, the phase descent search detection was proposed. This technique constrained the solution （PDS） algorithm, for M-ary phase shift keying （M-PSK） symbols to have a unit magnitude and it was based on coordinate descent iterations where coordinates were the unknown symbol phases. The PDS algorithm, together with a descent local search （also implemented as a version of the PDS algorithm）, was used multiple times with different initializations in a proposed multiple phase detector; the solution with the minimum cost was then chosen as the final solution. The simulation results show that for highly loaded multiuser scenarios, the proposed technique has a detection performance that is close to the single-user bound. The results also show that the multiple phase detector allows detection in highly overloaded scenarios and it exhibits near-far resistance. In particular, the detector has a performance that is significantly better, and complexity that is significantly lower, than that of the detector based on semi-definite relaxation.

Determining knots by optimizing the bending and stretching energies

For a given set of data points in the plane, a new method is presented for computing a parameter value（knot） for each data point. Associated with each data point, a quadratic polynomial curve passing through three adjacent consecutive data points is constructed. The curve has one degree of freedom which can be used to optimize the shape of the curve. To obtain a better shape of the curve, the degree of freedom is determined by optimizing the bending and stretching energies of the curve so that variation of the curve is as small as possible. Between each pair of adjacent data points, two local knot intervals are constructed, and the final knot interval corresponding to these two points is determined by a combination of the two local knot intervals. Experiments show that the curves constructed using the knots by the new method generally have better interpolation precision than the ones constructed using the knots by the existing local methods.

A SUPERLINEARLY CONVERGENT SPLITTING FEASIBLE SEQUENTIAL QUADRATIC OPTIMIZATION METHOD FOR TWO-BLOCK LARGE-SCALE SMOOTH OPTIMIZATION

This paper discusses the two-block large-scale nonconvex optimization problem with general linear constraints.Based on the ideas of splitting and sequential quadratic optimization(SQO),a new feasible descent method for the discussed problem is proposed.First,we consider the problem of quadratic optimal(QO)approximation associated with the current feasible iteration point,and we split the QO into two small-scale QOs which can be solved in parallel.Second,a feasible descent direction for the problem is obtained and a new SQO-type method is proposed,namely,splitting feasible SQO(SF-SQO)method.Moreover,under suitable conditions,we analyse the global convergence,strong convergence and rate of superlinear convergence of the SF-SQO method.Finally,preliminary numerical experiments regarding the economic dispatch of a power system are carried out,and these show that the SF-SQO method is promising.

Linear Quadratic Optimal Control for Systems Governed by First-Order Hyperbolic Partial Differential Equations

This paper focuses on linear-quadratic(LQ)optimal control for a class of systems governed by first-order hyperbolic partial differential equations(PDEs).Different from most of the previous works,an approach of discretization-then-continuousization is proposed in this paper to cope with the infinite-dimensional nature of PDE systems.The contributions of this paper consist of the following aspects:(1)The differential Riccati equations and the solvability condition of the LQ optimal control problems are obtained via the discretization-then-continuousization method.(2)A numerical calculation way of the differential Riccati equations and a practical design way of the optimal controller are proposed.Meanwhile,the relationship between the optimal costate and the optimal state is established by solving a set of forward and backward partial difference equations(FBPDEs).(3)The correctness of the method used in this paper is verified by a complementary continuous method and the comparative analysis with the existing operator results is presented.It is shown that the proposed results not only contain the classic results of the standard LQ control problem of systems governed by ordinary differential equations as a special case,but also support the existing operator results and give a more convenient form of computation.

STOCHASTIC DIFFERENTIAL EQUATIONS AND STOCHASTIC LINEAR QUADRATIC OPTIMAL CONTROL PROBLEM WITH LEVY PROCESSES

In this paper, tile authors first study two kinds of stochastic differential equations （SDEs） with Levy processes as noise source. Based on the existence and uniqueness of the solutions of these SDEs and multi-dimensional backward stochastic differential equations （BSDEs） driven by Levy pro- cesses, the authors proceed to study a stochastic linear quadratic （LQ） optimal control problem with a Levy process, where the cost weighting matrices of the state and control are allowed to be indefinite. One kind of new stochastic Riccati equation that involves equality and inequality constraints is derived from the idea of square completion and its solvability is proved to be sufficient for the well-posedness and the existence of optimal control which can be of either state feedback or open-loop form of the LQ problems. Moreover, the authors obtain the existence and uniqueness of the solution to the Riccati equation for some special cases. Finally, two examples are presented to illustrate these theoretical results.

Superconvergence analysis of fully discrete finite element methods for semilinear parabolic optimal control problems

We study the superconvergence property of fully discrete finite element approximation for quadratic optimal control problems governed by semilinear parabolic equations with control constraints. The time discretization is based on difference methods, whereas the space discretization is done using finite element methods. The state and the adjoint state are approximated by piecewise linear functions and the control is approximated by piecewise constant functions. First, we define a fully discrete finite element approximation scheme for the semilinear parabolic control problem. Second, we derive the superconvergence properties for the control, the state and the adjoint state. Finally, we do some numerical experiments for illustrating our theoretical results.

Fully Coupled Forward-Backward Stochastic Functional Differential Equations and Applications to Quadratic Optimal Control

This paper considers the fully coupled forward-backward stochastic functional differential equations(FBSFDEs) with stochastic functional differential equations as the forward equations and the generalized anticipated backward stochastic differential equations as the backward equations. The authors will prove the existence and uniqueness theorem for FBSFDEs. As an application, we deal with a quadratic optimal control problem for functional stochastic systems, and get the explicit form of the optimal control by virtue of FBSFDEs.

Mean-field stochastic linear quadratic optimal control problems: closed-loop solvability

An optimal control problem is studied for a linear mean-field stochastic differential equation with a quadratic cost functional.The coefficients and the weighting matrices in the cost functional are all assumed to be deterministic.Closedloop strategies are introduced,which require to be independent of initial states;and such a nature makes it very useful and convenient in applications.In this paper,the existence of an optimal closed-loop strategy for the system(also called the closedloop solvability of the problem)is characterized by the existence of a regular solution to the coupled two(generalized)Riccati equations,together with some constraints on the adapted solution to a linear backward stochastic differential equation and a linear terminal value problem of an ordinary differential equation.

Linear quadratic optimal control of conditional McKean-Vlasov equation with random coefficients and applications

We consider the optimal control problem for a linear conditional McKeanVlasov equation with quadratic cost functional.The coefficients of the system and the weighting matrices in the cost functional are allowed to be adapted processes with respect to the common noise filtration.Semi closed-loop strategies are introduced,and following the dynamic programming approach in(Pham and Wei,Dynamic programming for optimal control of stochastic McKean-Vlasov dynamics,2016),we solve the problem and characterize time-consistent optimal control by means of a system of decoupled backward stochastic Riccati differential equations.We present several financial applications with explicit solutions,and revisit,in particular,optimal tracking problems with price impact,and the conditional mean-variance portfolio selection in an incomplete market model.

An asymptotically optimal public parking lot location algorithm based on intuitive reasoning

In order to solve the problems of road traffic congestion and the increasing parking time caused by the imbalance of parking lot supply and demand,this paper proposes an asymptotically optimal public parking lot location algorithm based on intuitive reasoning to optimize the parking lot location problem.Guided by the idea of intuitive reasoning,we use walking distance as indicator to measure the variability among location data and build a combinatorial optimization model aimed at guiding search decisions in the solution space of complex problems to find optimal solutions.First,Selective Attention Mechanism(SAM)is introduced to reduce the search space by adaptively focusing on the important information in the features.Then,Quantum Annealing(QA)algorithm with quantum tunneling effect is used to jump out of the local extremum in the search space with high probability and further approach the global optimal solution.Experiments on the parking lot location dataset in Luohu District,Shenzhen,show that the proposed method has improved the accuracy and running speed of the solution,and the asymptotic optimality of the algorithm and its effectiveness in solving the public parking lot location problem are verified.

Necessary Optimality Conditions for Semi-vectorial Bi-level Optimization with Convex Lower Level:Theoretical Results and Applications to the Quadratic Case

This paper explores related aspects to post-Pareto analysis arising from the multicriteria optimization problem.It consists of two main parts.In the first one,we give first-order necessary optimality conditions for a semi-vectorial bi-level optimization problem:the upper level is a scalar optimization problem to be solved by the leader,and the lower level is a multi-objective optimization problem to be solved by several followers acting in a cooperative way(greatest coalition multi-players game).For the lower level,we deal with weakly or properly Pareto(efficient)solutions and we consider the so-called optimistic problem,i.e.when followers choose amongst Pareto solutions one which is the most favourable for the leader.In order to handle reallife applications,in the second part of the paper,we consider the case where each follower objective is expressed in a quadratic form.In this setting,we give explicit first-order necessary optimality conditions.Finally,some computational results are given to illustrate the paper.

TWO NOVEL GRADIENT METHODS WITH OPTIMAL STEP SIZES

In this work we introduce two new Barzilai and Borwein-like steps sizes for the classical gradient method for strictly convex quadratic optimization problems.The proposed step sizes employ second-order information in order to obtain faster gradient-type methods.Both step sizes are derived from two unconstrained optimization models that involve approximate information of the Hessian of the objective function.A convergence analysis of the proposed algorithm is provided.Some numerical experiments are performed in order to compare the efficiency and effectiveness of the proposed methods with similar methods in the literature.Experimentally,it is observed that our proposals accelerate the gradient method at nearly no extra computational cost,which makes our proposal a good alternative to solve large-scale problems.

Linear quadratic optimal controller for cable-driven parallel robots

In recent years, various cable-driven parallel robots have been investigated for their advantages, such as low structural weight, high acceleration, and large work- space, over serial and conventional parallel systems. However, the use of cables lowers the stiffness of these robots, which in turn may decrease motion accuracy. A linear quadratic （LQ） optimal controller can provide all the states of a system for the feedback, such as position and velocity. Thus, the application of such an optimal controller in cable-driven parallel robots can result in more efficient and accurate motion compared to the performance of classical controllers such as the proportional-integral-derivative controller. This paper presents an approach to apply the LQ optimal controller on cabledriven parallel robots. To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable-driven parallel robot （Feriba-3） is developed. The synthesis of the LQ optimal control is described, and the significant experimental results are presented and discussed.

A Posteriori Error Estimates of Mixed Methods for Quadratic Optimal Control Problems Governed by Parabolic Equations

In this paper,we discuss the a posteriori error estimates of the mixed finite element method for quadratic optimal control problems governed by linear parabolic equations.The state and the co-state are discretized by the high order Raviart-Thomas mixed finite element spaces and the control is approximated by piecewise constant functions.We derive a posteriori error estimates for both the state and the control approximation.Such estimates,which are apparently not available in the literature,are an important step towards developing reliable adaptive mixed finite element approximation schemes for the control problem.

Real-time optimization power-split strategy for hybrid electric vehicles

Energy management strategies based on optimal control theory can achieve minimum fuel consumption for hybrid electric vehicles, but the requirement for driving cycles known in prior leads to a real-time problem. A real-time optimization power-split strategy is proposed based on linear quadratic optimal control. The battery state of charge sustainability and fuel economy are ensured by designing a quadratic performance index combined with two rules. The engine power and motor power of this strategy are calculated in real-time based on current system state and command, and not related to future driving conditions. The simulation results in ADVISOR demonstrate that, under the conditions of various driving cycles, road slopes and vehicle parameters, the proposed strategy significantly improves fuel economy, which is very close to that of the optimal control based on Pontryagin's minimum principle, and greatly reduces computation complexity.

A Large-update Interior-point Algorithm for Convex Quadratic Semi-definite Optimization Based on a New Kernel Function

In this paper, we present a large-update interior-point algorithm for convex quadratic semi-definite optimization based on a new kernel function. The proposed function is strongly convex. It is not self-regular function and also the usual logarithmic function. The goal of this paper is to investigate such a kernel function and show that the algorithm has favorable complexity bound in terms of the elegant analytic properties of the kernel function. The complexity bound is shown to be O（√n（logn）2 log e/n）. This bound is better than that by the classical primal-dual interior-point methods based on logarithmic barrier function and in optimization fields. Some computational results recent kernel functions introduced by some authors have been provided.

Pareto Efficiency of Finite Horizon Switched Linear Quadratic Differential Games

A switched linear quadratic（LQ） differential game over finite-horizon is investigated in this paper. The switching signal is regarded as a non-conventional player, afterwards the definition of Pareto efficiency is extended to dynamics switching situations to characterize the solutions of this multi-objective problem. Furthermore, the switched differential game is equivalently transformed into a family of parameterized single-objective optimal problems by introducing preference information and auxiliary variables. This transformation reduces the computing complexity such that the Pareto frontier of the switched LQ differential game can be constructed by dynamic programming. Finally, a numerical example is provided to illustrate the effectiveness.