Publications

This work points out that the costates are actually discontinuous functions of time for optimal control problems with Coulomb friction. In particular these discontinuities occur at the time points where the velocity of the system changes sign. To our knowledge, this has not been noted before. This phenomenon is demonstrated on a minimum-time problem with Coulomb friction and the consistency of discontinuous costates and switching functions with respect to the input switches is shown.

Abstract not provided.

In this paper an optimization-based method of drift prevention is presented for learning control of underdetermined linear and weakly nonlinear time-varying dynamic systems. By defining a fictitious cost function and the associated model-based sub-optimality conditions, a new set of equations results, whose solution is unique, thus preventing large drifts from the initial input. Moreover, in the limiting case where the modeling error approaches zero, the input that the proposed method converges to is the unique feasible (zero error) input that minimizes the fictitious cost function, in the linear case, and locally minimizes it in the (weakly) nonlinear case. Otherwise, under mild restrictions on the modeling error, the method converges to a feasible sub-optimal input.

This work presents a method of finding near global optima to minimum-time trajectory generation problem for systems that would be linear if it were not for the presence of Coloumb friction. The required final state of the system is assumed to be maintainable by the system, and the input bounds are assumed to be large enough so that they can overcome the maximum static Coloumb friction force. Other than the previous work for generating minimum-time trajectories for non redundant robotic manipulators for which the path in joint space is already specified, this work represents, to the best of the authors' knowledge, the first approach for generating near global optima for minimum-time problems involving a nonlinear class of dynamic systems. The reason the optima generated are near global optima instead of exactly global optima is due to a discrete-time approximation of the system (which is usually used anyway to simulate such a system numerically). The method closely resembles previous methods for generating minimum-time trajectories for linear systems, where the core operation is the solution of a Phase I linear programming problem. For the nonlinear systems considered herein, the core operation is instead the solution of a mixed integer linear programming problem.

As computational needs for structural finite element analysis increase, a robust implicit structural dynamics code is needed which can handle millions of degrees of freedom in the model and produce results with quick turn around time. A parallel code is needed to avoid limitations of serial platforms. Salinas is an implicit structural dynamics code specifically designed for massively parallel platforms. It computes the structural response of very large complex structures and provides solutions faster than any existing serial machine. This paper gives a current status of Salinas and uses demonstration problems to show Salinas' performance.

In this work, a method is proposed for modifying the standard master-slave stiffness matrix so that linear consistency across the interface of the master and slave meshes is achieved. The existence of such a local stiffness modification is implied by the work of [Dohrmann, et al, to appear]. The present work aims at achieving the same linear consistency through a different method of stiffness modification that is based on simply ensuring zero residual force at the interior interface nodes for all non-zero-stress linear displacement fields and zero residual force at all interface nodes for all rigid-body linear displacement fields. These zero residuals ensure that the local stiffness modification results in an interface that passes the patch test. Numerical examples herein demonstrate that the maximum stress error at the interface goes to zero with the proposed method while it does not for the standard master-slave method.

Salinas provides a massively parallel implementation of structural dynamics finite element analysis, required for high fidelity, validated models used in modal, vibration, static and shock analysis of weapons systems. This document provides a users guide to the input for Salinas. Details of input specifications for the different solution types, output options, element types and parameters are included. The appendices contain detailed examples, and instructions for running the software on parallel platforms.

Minimum-time trajectory tracking of an under-actuated mechanical system called the Acrobot is presented. The success of the controller is demonstrated by the fact that the tracking error is reduced by more than an order of magnitude when compared to the open-loop system response. The control law is obtained by linearizing the system about the nominal trajectory and applying differential dynamic programming to the resulting linear time-varying system, while using a weighted sum of the state-deviation and input-deviation as the cost function.

A method for finding a global optimum to the on-off minimum-time control problem with limited fuel usage is presented. Each control can take on only three possible values: maximum, zero, or minimum. The simplex method for linear systems naturally yields such a solution for the re-formulation presented herein because it always produces an extreme point solution to the linear program. Numerical examples for the benchmark linear flexible system are presented.

This work is an experimental investigation of the ability of a real three-link direct-drive arm to track model-based minimum-time trajectories that have been found off-line. Sufficiently large velocity gains in the computed torque control law were not achievable with the velocity sensors described herein. This indicates the critical importance of the velocity sensing when attempting to track trajectories that push the envelope of the system's torque capabilities.