Presented By: Aerospace Engineering
AE Defense: Drift Counteraction Optimal Control
Aerospace Engineering PhD Candidate: Robert Zidek, Dissertation Chair: Professor Ilya Kolmanovsky
Drift Counteraction Optimal Control: Theory and Applications to Autonomous Cars and Spacecraft
In many engineering systems there is an inherent tendency of process variables to drift. Such drift may be caused by large persistent disturbances (e.g., wind gusts) or when the control authority is limited (e.g., underactuated systems). In other systems, similar drift is caused by finite resources (fuel, energy, component life, etc.) being continuously depleted. This dissertation advances theory and methods for designing control algorithms that maximize the time or, in general, a yield function before a given system violates prescribed constraints. Such problems are referred to as drift counteraction optimal control (DCOC) problems since the controller may be viewed as counteracting drift in order to delay constraint violation. Both deterministic and stochastic settings of the DCOC problem are considered and new theoretical results are derived, including properties of the objective function, conditions under which a solution to the DCOC problem exists, and characteristics of a solution. In addition, new algorithms based on dynamic programming, approximate dynamic programming, and model predictive control are developed to solve the DCOC problem. Several engineering applications of DCOC are proposed with a focus on spacecraft control and driving policies for autonomous vehicles, where the effectiveness of the developed approaches is demonstrated in numerical case studies.
Dissertation Committee:
Chair: Prof. Ilya V. Kolmanovsky
Cognate Member: Prof. Jing Sun
Members: Prof. Ella M. Atkins and Prof. Anouck R.Girard
Publications
Journal Papers
R. A. E. Zidek, A. Bemporad, and I. V. Kolmanovsky. “Drift counteraction optimal control for spacecraft using linear and nonlinear programming”, Journal of Guidance, Control, and Dynamics, 2017, under review.
R. A. E. Zidek and I. V. Kolmanovsky. “Drift counteraction optimal control for deterministic systems and enhancing convergence of value iteration”, Automatica, 2017, pp. 108-115.
R. A. E. Zidek and I. V. Kolmanovsky. “Approximate closed-form solution to a linear quadratic optimal control problem with disturbance”, Journal of Guidance, Control, and Dynamics, 40, Special Issue on Computational Guidance and Control, 2017, pp. 477-483.
Conference Papers
R. A. E. Zidek, I. V. Kolmanovsky, and A. Bemporad. “Stochastic MPC approach to drift counteraction”, American Control Conference, 2018, under review.
R. A. E. Zidek and I. V. Kolmanovsky. “Optimal driving policies for autonomous vehicles based on stochastic drift counteraction”, 20th IFAC World Congress, 2017, pp. 292-298.
R. A. E. Zidek, A. Bemporad, and I. V. Kolmanovsky. “Optimal and receding horizon drift counteraction control: linear programming approaches”, American Control Conference, 2017, pp. 2636-2641.
R. A. E. Zidek and I. V. Kolmanovsky. “A new algorithm for a special class of deterministic drift counteraction optimal control problems”, American Control Conference, 2017, pp. 623-629.
R. A. E. Zidek, C. D. Petersen, A. Bemporad, and I. V. Kolmanovsky. “Receding horizon drift counteraction and its application to spacecraft attitude control”, AAS/AIAA Space Flight Mechanics Meeting, 2017, Paper AAS 17-465.
R. A. E. Zidek and I. V. Kolmanovsky. “Stochastic drift counteraction optimal control and enhancing convergence of value iteration”, Conference on Decision and Control, 2016, pp. 1119-1124.
R. A. E. Zidek and I. V. Kolmanovsky. “Deterministic drift counteraction optimal control for attitude control of spacecraft with time-varying mass”, AIAA Guidance, Navigation, and Control Conference, 2016, Paper AIAA 0369.
R. A. E. Zidek and I. V. Kolmanovsky. “Geostationary satellite station keeping using drift counteraction optimal control”, AAS/AIAA Space Flight Mechanics Meeting, 2016, Paper AAS 16-517.
R. A. E. Zidek and I. V. Kolmanovsky. “Deterministic drift counteraction optimal control and its application to satellite life extension”, Conference on Decision and Control, 2015, pp. 3397-3402.
R. A. E. Zidek and I. V. Kolmanovsky. “Approximate optimal control of nonlinear systems with quadratic performance criteria”, American Control Conference, 2015, pp. 5587-5592.
In many engineering systems there is an inherent tendency of process variables to drift. Such drift may be caused by large persistent disturbances (e.g., wind gusts) or when the control authority is limited (e.g., underactuated systems). In other systems, similar drift is caused by finite resources (fuel, energy, component life, etc.) being continuously depleted. This dissertation advances theory and methods for designing control algorithms that maximize the time or, in general, a yield function before a given system violates prescribed constraints. Such problems are referred to as drift counteraction optimal control (DCOC) problems since the controller may be viewed as counteracting drift in order to delay constraint violation. Both deterministic and stochastic settings of the DCOC problem are considered and new theoretical results are derived, including properties of the objective function, conditions under which a solution to the DCOC problem exists, and characteristics of a solution. In addition, new algorithms based on dynamic programming, approximate dynamic programming, and model predictive control are developed to solve the DCOC problem. Several engineering applications of DCOC are proposed with a focus on spacecraft control and driving policies for autonomous vehicles, where the effectiveness of the developed approaches is demonstrated in numerical case studies.
Dissertation Committee:
Chair: Prof. Ilya V. Kolmanovsky
Cognate Member: Prof. Jing Sun
Members: Prof. Ella M. Atkins and Prof. Anouck R.Girard
Publications
Journal Papers
R. A. E. Zidek, A. Bemporad, and I. V. Kolmanovsky. “Drift counteraction optimal control for spacecraft using linear and nonlinear programming”, Journal of Guidance, Control, and Dynamics, 2017, under review.
R. A. E. Zidek and I. V. Kolmanovsky. “Drift counteraction optimal control for deterministic systems and enhancing convergence of value iteration”, Automatica, 2017, pp. 108-115.
R. A. E. Zidek and I. V. Kolmanovsky. “Approximate closed-form solution to a linear quadratic optimal control problem with disturbance”, Journal of Guidance, Control, and Dynamics, 40, Special Issue on Computational Guidance and Control, 2017, pp. 477-483.
Conference Papers
R. A. E. Zidek, I. V. Kolmanovsky, and A. Bemporad. “Stochastic MPC approach to drift counteraction”, American Control Conference, 2018, under review.
R. A. E. Zidek and I. V. Kolmanovsky. “Optimal driving policies for autonomous vehicles based on stochastic drift counteraction”, 20th IFAC World Congress, 2017, pp. 292-298.
R. A. E. Zidek, A. Bemporad, and I. V. Kolmanovsky. “Optimal and receding horizon drift counteraction control: linear programming approaches”, American Control Conference, 2017, pp. 2636-2641.
R. A. E. Zidek and I. V. Kolmanovsky. “A new algorithm for a special class of deterministic drift counteraction optimal control problems”, American Control Conference, 2017, pp. 623-629.
R. A. E. Zidek, C. D. Petersen, A. Bemporad, and I. V. Kolmanovsky. “Receding horizon drift counteraction and its application to spacecraft attitude control”, AAS/AIAA Space Flight Mechanics Meeting, 2017, Paper AAS 17-465.
R. A. E. Zidek and I. V. Kolmanovsky. “Stochastic drift counteraction optimal control and enhancing convergence of value iteration”, Conference on Decision and Control, 2016, pp. 1119-1124.
R. A. E. Zidek and I. V. Kolmanovsky. “Deterministic drift counteraction optimal control for attitude control of spacecraft with time-varying mass”, AIAA Guidance, Navigation, and Control Conference, 2016, Paper AIAA 0369.
R. A. E. Zidek and I. V. Kolmanovsky. “Geostationary satellite station keeping using drift counteraction optimal control”, AAS/AIAA Space Flight Mechanics Meeting, 2016, Paper AAS 16-517.
R. A. E. Zidek and I. V. Kolmanovsky. “Deterministic drift counteraction optimal control and its application to satellite life extension”, Conference on Decision and Control, 2015, pp. 3397-3402.
R. A. E. Zidek and I. V. Kolmanovsky. “Approximate optimal control of nonlinear systems with quadratic performance criteria”, American Control Conference, 2015, pp. 5587-5592.
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