Optimal control of the double integrator with minimum total variation

DOI10.1007/S10957-020-01671-4MaRDI QIDQ2188954zbMATH OpenOpenAlexFDO

Authors C. Y. Kaya

Publication date 15 June 2020

Published in Journal of Optimization Theory and Applications (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1901.00491

zbMATH Keywords

total variationoptimal controlPareto frontmulti-objective optimal controlminimum-energy control

Mathematics Subject Classification ID

Multi-objective and goal programming (90C29) Existence theories for optimal control problems involving ordinary differential equations (49J15) Linear optimal control problems (49N05)

Abstract: We study the well-known minimum-energy control of the double integrator, along with the simultaneous minimization of the total variation in the control variable. We derive the optimality conditions and obtain the unique optimal solution to the combined problem, where the initial and terminal boundary points are specified. We study the problem from a multi-objective optimal control viewpoint, constructing the Pareto front. We show that the unique asymptotic optimal control function, for the minimization of the total variation alone, is piecewise constant with one switching at the midpoint of the time horizon. For any instance of the boundary conditions of the problem, we prove that the asymptotic optimal total variation is exactly $2/3$ of the total variation of the minimum-energy control. We illustrate the results for a particular instance of the problem and include a link to a video which animates the solutions while moving along the Pareto front.

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(9)

• Minimizing control volatility for nonlinear systems with smooth piecewise-quadratic input signals
• Input regularization for integer optimal control in BV with applications to control of poroelastic and poroviscoelastic systems
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• A different look at the optimal control of the Brockett integrator
• On control under double constraint with dependence of the hard bounds on the integral constraint reserve
• On Integer Optimal Control with Total Variation Regularization on Multidimensional Domains
• Optimal Control Duality and the Douglas–Rachford Algorithm
• Sequential linear integer programming for integer optimal control with total variation regularization
• Infeasible and critically feasible optimal control

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