Necessary optimality conditions in a nonsmooth control problem with variable structure

An optimal control problem with nonsmooth performance criterion described by a system of ordinary differential equations is considered. Necessary first-order optimality conditions are obtained.     

Incremental subgradient method for nonsmooth convex optimization with fixed point constraints

This paper proposes an incremental subgradient method for solving the problem of minimizing the sum of nondifferentiable, convex objective functions over the intersection of fixed point sets of nonexpansive mappings in a real Hilbert space. The proposed algorithm can work in nonsmooth optimization over constraint sets onto which projections cannot be always implemented, whereas the conventional incremental subgradient method can be applied only when a constraint set is simple in the sense that the projection onto it can be easily implemented. We first study its convergence for a constant step size. The analysis indicates that there is a possibility that the algorithm with a small constant step size approximates a solution to the problem. Next, we study its convergence for a diminishing step size and show that there exists a subsequence of the sequence generated by the algorithm which weakly converges to a solution to the problem. Moreover, we show the whole sequence generated by the algorithm with a diminishing step size strongly converges to the solution to the problem under certain assumptions. We also give examples of real applied problems which satisfy the assumptions in the convergence theorems and numerical examples to support the convergence analyses.     

Adaptive control design for a class of nonsmooth nonlinear systems with matched and linearly parameterized uncertainty

This paper presents an adaptive control design for a class of nonsmooth nonlinear systems with matched uncertainty, which is linearly parameterized with a known discontinuous function. The design framework is based on the concept of the Filippov solution as the classical Lyapunov theory for smooth systems cannot be applied to establish the stability of the adaptive control system due to the presence of the discontinuity. It is proved that as an adaptive control system, the global Lyapunov stability with the convergence of the state of the controlled system to the origin can be achieved by evaluating the monotonicity of the Lyapunov function in the state space, particularly on the discontinuous surface, while the uniqueness of the solution of the closed‐loop system is not necessarily guaranteed. Some interesting numerical examples are demonstrated with simulation results. Copyright © 2008 John Wiley & Sons, Ltd.     

求解垂直互补问题的一种修正非光滑Levenberg-Marquardt算法

本文提出了一种求解垂直互补问题的修正非光滑Levenberg-Marquardt算法.与以往算法相比,该算法不但采用了新的微分形式取代了B-微分,还运用了一种LM参数的自适应调整策略以确保每次迭代时LM步不至于过小,从而保证了算法的快速收敛.最后,数值实验表明了算法的有效性.     

Multiple robust H∞ controller design using the nonsmooth optimization method

This paper proposes a systematic technique to design multiple robust H_∞ controllers. The proposed technique achieves a desired robust performance objective, which is impossible to achieve with a single robust controller, by dividing the uncertainty set into several subsets and by designing a robust controller to each subset. To achieve this goal with a small number of divisions of the uncertainty set, an optimization problem is formulated. Since the cost function of this optimization problem is not a smooth function, a numerical nonsmooth optimization algorithm is proposed to solve this problem. This method avoids the use of Lyapunov variables, and therefore it leads to a moderate size optimization problem. A numerical example shows that the proposed multiple robust control method can improve the closed‐loop performance when a single robust controller cannot achieve satisfactory performance. Copyright © 2009 John Wiley & Sons, Ltd.     

线性控制系统多面体区域的生存性判别

利用非光滑分析, 讨论线性控制系统多面体区域的生存性判别. 对于有界多面体(利用有限点集的凸包来表示), 其生存性判别只需检验其在极点处是否满足生存性条件, 去掉了以往对输入集合为多面体的要求, 这种生存性判别方法简便易行. 最后利用所给出的生存性条件讨论了生存性设计.

     

Flocking of multi‐agent nonholonomic systems with unknown leader dynamics and relative measurements

In this paper, we consider the distributed flocking control problem of multi‐agent nonholonomic systems with a virtual leader whose dynamics is unknown; state information is time varying and not available to all agents under both fixed and switching topologies. On the basis of the relative velocity and orientation information of neighboring agents, two distributed discontinuous control protocols are designed for fixed and switching topologies, respectively. By using tools from algebraic graph theory and nonsmooth analysis, the proposed distributed discontinuous control protocols guarantee that the velocities and orientations of the agents exponentially converge to the velocity and orientation of the virtual leader, respectively, while ensuring collision avoidance of the whole group, if the interaction graph among agents is undirected and the virtual leader with bounded time‐varying velocity has directed paths to other agents. Finally, numerical simulations are provided to illustrate the effectiveness of the theoretical results. Copyright © 2017 John Wiley & Sons, Ltd.     

一类非光滑优化的区间填充函数法

利用区间优化方法对非线性函数比较容易处理及算法的可靠性、收敛性均有保证的特点，用区间方法讨论了目标函数是弱半光滑的最小化问题．给出了填充函数的区间扩张，并提出了求解该非光滑优化问题的区间填充函数算法．定理表明该算法是收敛的、有效的．     

非光滑非凸多目标规划的mond—weir型对偶性

本文利用作者对非光滑函数给出的一些非凸条件,建立了一类非光滑非凸多目标规划的 Mond-Weir 型对偶理论。     

一类(h,)—— 意义下非光滑规划解的充分条件

在Ben—Tal广义代数运算的基础上引进了广义(h,(?))—方向导数及广义(h,(?))—梯度的概念,对非光滑函数提出了几个非凸概念,然后在比较弱的条件下给出了非光滑非凸规划的几个充分条件。