微生物批式流加发酵过程中的时滞最优控制

考虑到1,3-丙二醇(1,3-PD)批式流加发酵过程中的时滞现象,提出一个非线性时滞微分方程来描述该过程.以终端时刻1,3-PD的单位时间产量作为性能指标,同时,以甘油和碱的流加速度、发酵过程的终端时刻作为控制向量,建立一个含控制和状态约束的时滞最优控制模型.为了求解该最优控制问题,首先通过时间尺度变换,将该最优控制问题转化为具有固定终端时刻的等价最优控制问题;然后,应用控制参数化方法,将等价的最优控制问题用一系列有限维优化问题来近似;最后,构造一种改进的粒子群优化方法来求解相应的近似优化问题.数值结果表明,终端时刻的1,3-PD的单位时间产量比已有结果提高了约58%.     

Optimal control of continuous-time switched affine systems

This paper deals with optimal control of switched piecewise affine autonomous systems, where the objective is to minimize a performance index over an infinite time horizon. We assume that the switching sequence has a finite length, and that the decision variables are the switching instants and the sequence of operating modes. We present two different approaches for solving such an optimal control problem. The first approach iterates between a procedure that finds an optimal switching sequence of modes, and a procedure that finds the optimal switching instants. The second approach is inspired by dynamic programming and identifies the regions of the state space where an optimal mode switch should occur, therefore providing a state feedback control law.     

一类切换系统的输入-状态稳定性分析与优化控制

利用驻留时间法和 Gronwall-Bellman不等式研究了一类切换系统的输入一状态稳定性分析与优化控制问题.在保证切换系统输入-状态稳定的前提下,将切换时刻和切换次数约束条件转化为线性约束,提出了一种新的切换系统优化问题目标函数的形式.与已有的方法相比,该方法无需引入新的状态变量,无需同时满足构造输入-状态稳定控制李亚普诺夫函数和所有子系统都是输入-状态稳定的条件,为控制器的优化设计提供了便利.最后,通过算例仿真证实了文中所提方法的可行性.     

基于切换次序参数化的时滞切换正系统最优控制

考虑时滞线性自治切换正系统,将切换次序参数化作为系统的离散输入,通过系统的等价转换,分析时滞线性自治切换正系统的最优控制问题.利用极小值原理,给出满足性能指标的最优切换次序条件,分析时滞项对性能指标和切换时刻的影响,最后给出数值例子验证结论的有效性.     

Optimization problems for switched systems with impulsive control

By using Impulsive Maximum Principal and three stage optimization method , this paper discusses optimization problems for linear impulsive switched systems with hybrid controls ,which includes continuous control and impulsive control. The linear quadratic optimization problems without constraints such as optimal hybrid control , optimal stability and optimal switching instants are addressed in detail. These results are applicable to optimal control problems in economics ,mechanics ,and management .     

Optimization problems for switched systems with impulsive control

By using Impulsive Maximum Principal and three stage optimization method, this paper discusses optimization problems for linear impulsive switched systems with hybrid controls, which includes continuous control and impulsive control. The linear quadratic optimization problems without constraints such as optimal hybrid control, optimal stability and optimal switching instants are addressed in detail. These results are applicable to optimal control problems in economics, mechanics, and management.     

Optimal control of switched systems based on parameterization of the switching instants

This paper presents a new approach for solving optimal control problems for switched systems. We focus on problems in which a prespecified sequence of active subsystems is given. For such problems, we need to seek both the optimal switching instants and the optimal continuous inputs. In order to search for the optimal switching instants, the derivatives of the optimal cost with respect to the switching instants need to be known. The most important contribution of the paper is a method which first transcribes an optimal control problem into an equivalent problem parameterized by the switching instants and then obtains the values of the derivatives based on the solution of a two point boundary value differential algebraic equation formed by the state, costate, stationarity equations, the boundary and continuity conditions, along with their differentiations. This method is applied to general switched linear quadratic problems and an efficient method based on the solution of an initial value ordinary differential equation is developed. An extension of the method is also applied to problems with internally forced switching. Examples are shown to illustrate the results in the paper.     

Optimal piecewise constant control of continuous time systems with time-varying delay

Necessary conditions are presented for the optimal piecewise constant control of continuous time systems with time-varying delay. The conventional Hamiltonian is used; the effect of the delay is included in the costate equation. A fixed endpoint problem is formulated for a scalar system. Restricting the control to be piecewise constant results in a condition on the Hamiltonian integrated between switching instants. The extension to more general terminal constraints for multivariable systems is straight-forward.     

改进的单纯形法优化微生物间歇发酵的操作条件

建立了以微生物间歇发酵甘油生产1,3-丙二醇（1,3-PD）的两阶段非线性动力系统和终端要求为约束,以初始浓度和发酵时间为优化参数,以终端时刻1,3-PD的生产强度最大为性能指标的参数优化模型。证明了该模型中最优参数的存在性。最后构造了改进的单纯形法求解该问题,数值结果给出了微生物间歇发酵在厌氧条件下的最优的发酵时间、初始生物量和甘油浓度,从而为1,3-PD的产业化生产提供理论指导。     

Control discrete-time switched singular systems with state delays under asynchronous switching

This article is concerned with the problem of state feedback control for a class of discrete-time switched singular systems with time-varying state delays under asynchronous switching. The asynchronous switching considered here means that the switching instants of the candidate controllers lag behind those of the system modes. The concept of mismatched control rate is introduced. By using the multiple Lyapunov function approach and the average dwell time technique, a sufficient condition for the existence a stabilising switching law is first derived to guarantee the regularity, causality and exponential stability of the closed-loop system in the presence of asynchronous switching. The stabilising switching law is characterised by a upper bound on the mismatched control rate and a lower bound on the average dwell time. Then, the corresponding solvability condition for a set of mode-dependent state feedback controllers is established by using the linear matrix inequality (LMI) technique. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method.     

Data-driven optimal switching and control of switched systems

In this paper, optimal switching and control approaches are investigated for switched systems with infinite-horizon cost functions and unknown continuous-time subsystems. At first, for switched systems with autonomous subsystems, the optimal solution based on the finite-horizon HJB equation is proposed and a data-driven optimal switching algorithm is designed. Then, for the switched systems with subsystem inputs, a data-driven optimal control approach based on the finite-horizon HJB equation is proposed. The data-driven approaches approximate the optimal solutions online by means of the system state data instead of the subsystem models. Moreover, the convergence of the two approaches is analyzed. Finally, the validity of the two approaches is demonstrated by simulation examples.     

Detectability and Stabilizability of Discrete-Time Switched Linear Systems

For discrete-time switched linear systems under nondeterministic autonomous switching, the existence of causal finite-path-dependent stabilizing output injection and state feedback laws are characterized by increasing unions of linear matrix inequality conditions. These convex characterizations lead to the notions of causal finite-path-dependent detectability and stabilizability, which in turn yield a separation result for dynamic output feedback stabilization. By generalizing the standard duality concept to switched systems under arbitrary switching path constraints, we relate these notions to direct extensions of time-varying detectability and stabilizability requirements.      

Synthesis of optimal discrete automaton-type systems in the case of multiple instantaneous switchings

A discrete system that models the operation of a dynamic finite state machine (automaton) with memory is considered. In distinction from the classical model of discrete time system, in which the states are changed (switched) at prescribed instants of time, automaton-type systems may change their states at arbitrary instants. Moreover, multiple instantaneous switchings are allowed. Furthermore, the choice of the instants when the automaton “fires” and the number of switchings at these instants are considered as control resources, and they are subject to optimization. Sufficient optimality conditions for such systems are proved. Equations for the optimal open-loop control and for the value (Bellman) function are derived. A method for the synthesis of the optimal control is proposed based on the construction of the value function as the lower envelope of a family of auxiliary functions (generators). Application of the proposed method is illustrated by examples.     

改进粒子群算法优化微生物连续发酵过程

针对微生物连续发酵生产1,3-丙二醇动力学模型,以稳态时刻1,3-丙二醇的浓度最大化为目标函数,建立以注入甘油浓度和稀释速率为优化变量的优化模型。证明了该模型最优解的存在性。进一步,构造了改进的粒子群优化算法求解此优化模型。数值结果表明稳态时刻1,3-丙二醇的浓度比已有结果有显著提高。     

Data-driven optimal control of switched linear autonomous systems

In this paper, a novel data-driven optimal control approach of switching times is proposed for unknown continuous-time switched linear autonomous systems with a finite-horizon cost function and a prescribed switching sequence. No a priori knowledge on the system dynamics is required in this approach. First, some formulas based on the Taylor expansion are deduced to estimate the derivatives of a cost function with respect to the switching times using system state data. Then, a data-driven optimal control approach based on the gradient decent algorithm is designed, taking advantage of the derivatives to approximate the optimal switching times. Moreover, the estimation errors are analysed and proven to be bounded. Finally, simulation examples are illustrated to validate the effectiveness of the approach.