In this paper,we consider a class of optimal control problems where the dynamical systems are time-delay switched systems with the delay being a function of time.By applying the control parameterization method,the con...In this paper,we consider a class of optimal control problems where the dynamical systems are time-delay switched systems with the delay being a function of time.By applying the control parameterization method,the control heights and switching times become decision variables that need to be optimized.It is well-known that,for this type problem,the variable switching times cannot be optimized directly.To work around this problem,we introduce a time-scaling transformation technique so that the original system is transformed an equivalent system,which is defined on a new time horizon with fixed switching times.Based on the relationship between the original time scale and the new time scale,we derive the gradients of the objective and constraint functions with respect to the control heights and durations.Then,the new problem can be solved by gradient-based optimization approach.To demonstrate the effectiveness of the time-scaling transformation technique,two example problems are solved.展开更多
In this paper,we consider an optimization problem of the grasping manipulation of multi-fingered hand-arm robots.We first formulate an optimization model for the problem,based on the dynamic equations of the object a...In this paper,we consider an optimization problem of the grasping manipulation of multi-fingered hand-arm robots.We first formulate an optimization model for the problem,based on the dynamic equations of the object and the friction constraints.Then,we reformulate the model as a convex quadratic programming over circular cones.Moreover,we propose a primal-dual interior-point algorithm based on the kernel function to solve this convex quadratic programming over circular cones.We derive both the convergence of the algorithm and the iteration bounds for largeand small-update methods,respectively.Finally,we carry out the numerical tests of 180◦and 90◦manipulations of the hand-arm robot to demonstrate the effectiveness of the proposed algorithm.展开更多
基金This work was supported by the National Natural Science Foundation of China(Nos.11871039 and 11771275).
文摘In this paper,we consider a class of optimal control problems where the dynamical systems are time-delay switched systems with the delay being a function of time.By applying the control parameterization method,the control heights and switching times become decision variables that need to be optimized.It is well-known that,for this type problem,the variable switching times cannot be optimized directly.To work around this problem,we introduce a time-scaling transformation technique so that the original system is transformed an equivalent system,which is defined on a new time horizon with fixed switching times.Based on the relationship between the original time scale and the new time scale,we derive the gradients of the objective and constraint functions with respect to the control heights and durations.Then,the new problem can be solved by gradient-based optimization approach.To demonstrate the effectiveness of the time-scaling transformation technique,two example problems are solved.
基金the National Natural Science Foundation of China(No.11371242)。
文摘In this paper,we consider an optimization problem of the grasping manipulation of multi-fingered hand-arm robots.We first formulate an optimization model for the problem,based on the dynamic equations of the object and the friction constraints.Then,we reformulate the model as a convex quadratic programming over circular cones.Moreover,we propose a primal-dual interior-point algorithm based on the kernel function to solve this convex quadratic programming over circular cones.We derive both the convergence of the algorithm and the iteration bounds for largeand small-update methods,respectively.Finally,we carry out the numerical tests of 180◦and 90◦manipulations of the hand-arm robot to demonstrate the effectiveness of the proposed algorithm.
