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arXiv 2201.07483math.OC
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利用拟线性化和Fenchel对偶解非线性最优控制问题

Solutions of Nonlinear Optimal Control Problems Using Quasilinearization and Fenchel Duality

Hailing Wang, Di Wu, Changjun Yu

摘要:

本文考虑一类特殊的非线性最优控制问题,其中控制变量是箱约束的,目标泛函对应于控制变量是强凸的,且关于状态变量和控制变量是可分的.利用拟线性化方法,将求解原非线性问题转化为求解一系列约束线性二次型最优控制问题。为了有效地求解每个线性二次型问题,我们转而研究其对偶问题。利用Fenchel对偶方法构造对偶问题,证明了对偶问题的强对偶性和原问题与对偶问题对应的鞍点性质,从而保证了对偶问题求解的有效性.这样,用求解控制约束线性二次型最优控制问题的对偶问题代替了用拟线性化方法求解控制约束线性二次型最优控制问题的对偶问题。通过求解对偶问题的序列,利用鞍点性质得到了原始控制约束线性二次型问题的解。证明了每个子问题的解最终收敛于原非线性问题的最优性条件的解。在此基础上,我们利用本文的方法进行了数值实验,对于每个子问题,我们用欧拉离散格式将原问题和对偶问题离散化。数值结果验证了该方法的有效性。

英文摘要:

In this paper, we consider a special class of nonlinear optimal control problems, where the control variables are box-constrained and the objective functional is strongly convex corresponding to control variables and separable with respect to the state variables and control variables. We convert solving the original nonlinear problem into solving a sequence of constrained linear-quadratic optimal control problems by quasilinearization method. In order to solve each linear-quadratic problem efficiently we turn to study its dual problem. We formulate dual problem by the scheme of Fenchel duality, the strong duality property and the saddle point property corresponding to primal and dual problem are also proved, which together ensure that solving dual problem is effective. Thus solving the sequence of control constrained linear-quadratic optimal control problems obtained by quasilinearization technique is substituted by solving the sequence of their dual problem. We solve the sequence of dual problem and obtain the solution to primal control constrained linear-quadratic problem by the saddle point property. Furthermore, the fact that solution to each subproblem finally converges to the solution to the optimality conditions of original nonlinear problem is also proved. After that we carry out numerical experiments using present approach, for each subproblem we formulate the discretized primal and dual problem by Euler discretization scheme in our experiments. Efficiency of the present method is validated by numerical results.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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