Motivated by the ubiquity of control-affine systems in optimal control theory, we investigate the geometry of point-affine control systems with metric structures in dimensions two and three. We compute local isometric invariants for point-affine distributions of constant type with metric structures for systems with 2 s…
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48 results for “affine optimal control”
Optimal control trajectories have limited irregularities.
problem Regularity of time-optimal control trajectories in control-affine systems.
method Generic conditions on drift and controlled vector field are used to prove smoothness out of a countable set of times, up to K-th order iterated singularities.
result Control trajectories are smooth out of a countable set of times, with singularities limited to K-th order iterated.
On the set of points of smoothness for the value function for affine optimal control problemsmath.OC
Smoothness of value function in affine control problems proven.
problem Regularity of value function in affine optimal control problems.
method Proved continuity and smoothness on open dense subsets without singular minimizers.
result Value function is smooth on an open dense subset of the interior of the attainable set.
Random features enhance control of complex systems.
problem Flexible nonlinear models for control-affine systems.
method Random features approximations for control-affine structure.
result Methods formalized and shown to relate to ADP and AD kernels.
Optimal control of affine connection control systems from the point of view of Lie algebroidsmath.OC
The purpose of this paper is to use the framework of Lie algebroids to study optimal control problems for affine connection control systems on Lie groups. In this context, the equations for critical trajectories of the problem are geometrically characterized as a Hamiltonian vector field.
Motivated by control-affine systems in optimal control theory, we introduce the notion of a point-affine distribution on a manifold X - i.e., an affine distribution F together with a distinguished vector field contained in F. We compute local invariants for point-affine distributions of constant type when dim(X)=n, ran…
Solves optimal control with constraints for stochastic systems.
problem Optimal control of constrained stochastic linear-quadratic systems.
method State separation theorem and Riccati equations for explicit solution.
result Explicit piecewise affine optimal control policy.
FineMorphs models smooth transformations for multivariate regression.
problem Efficiently modeling complex transformations for multivariate regression.
method Optimal control of affine and diffeomorphic transformations using smooth vector fields.
result FineMorphs can reduce dimensionality and adapt to large datasets.
Non-bilinear observations make optimal control harder, showing non-convex costs and non-affine optimal controllers.
problem Optimal control from bilinear observations in linear systems is challenging.
method Analytical and numerical methods to study the non-convex cost-to-go and non-affine optimal controllers.
result The Separation Principle does not hold for bilinear observations, leading to non-convex costs and non-affine optimal controllers.
New algorithm solves Schrödinger bridge problem with mismatched channels.
problem Solving Schrödinger bridge problem with input and noise channel mismatch.
method Design of a Sinkhorn recursion with memory for nonlinear PDEs.
result Demonstrates solving control-affine Schrödinger bridge problem.
Clarifies relation for solving control-affine Schrödinger bridge problems.
problem Solving control-affine Schrödinger bridge problems via Hopf-Cole transform.
method Applies Hopf-Cole transform to conditions of optimality, resulting in nonlinear PDEs.
result Generic control-affine Schrödinger bridge requires further algorithmic development.
Study examines quotients of affine connection control systems.
problem Existence of quotients preserving mechanical structures.
method Local and global sufficient and necessary conditions for geodesically accessible systems.
result Quotients can be constructed for geodesically accessible systems.
Explicit Solution for Constrained Stochastic Linear-Quadratic Control with Multiplicative Noiseeess.SY
Researchers solve a complex financial control problem with explicit policies.
problem Constrained LQ control with multiplicative noise in financial risk management.
method Derived analytical control policy using state separation property and solving coupled Riccati equations.
result Explicit piece-wise affine control policy for optimal control of stochastic systems.
The paper is devoted to the local classification of generic control-affine systems on an n-dimensional manifold with scalar input for any n>3 or with two inputs for n=4 and n=5, up to state-feedback transformations, preserving the affine structure. First using the Poincare series of moduli numbers we introduce the intr…
The paper presents the geometry of Lie algebroids and its applications to optimal control. The first part deals with the theory of Lie algebroids, connections on Lie algebroids and dynamical systems defined on Lie algebroids (mainly Lagrangian and Hamiltonian systems). In the second part we use the framework of Lie alg…
Investigates mean-variance portfolio selection in non-Markovian markets.
problem Continuous-time Markowitz mean-variance portfolio selection in fake stationary affine Volterra models.
method Stochastic factor solution to a Riccati BSDE, deriving explicit solutions as multi-dimensional Riccati-Volterra equations.
result Analytical closed-form expressions for optimal portfolio policies and mean-variance efficient frontier.
Researchers describe Casimir functions for 3- and 4-step nilpotent Lie groups.
problem Understanding Casimir functions for free nilpotent Lie groups of steps 3 and 4.
method Construction of Casimir functions for free nilpotent Lie groups of steps 3 and 4.
result For 3-step groups, coadjoint orbits are fully described as affine subspaces or direct products of quadrics.
Proofs for decomposing branched affine surfaces into triangles and cylinders.
problem Decomposing branched affine surfaces into simpler geometric shapes.
method Proof of Veech's theorem and introduction of invariant α.
result Any pair of decompositions can be connected by flips.
The paper tackles data-driven optimal control of unknown nonlinear systems using RKHS.
problem Unknown nonlinear dynamics and stage cost functions.
method Embed state densities into RKHS, learn Markov operators, solve Hamilton-Jacobi-Bellman recursions.
result Solves a wide range of nonlinear control problems, including depth regulation.
Deep neural network approximation for high-dimensional parabolic Hamilton-Jacobi-Bellman equationsmath.NA
Deep neural nets approximate high-dimensional HJB equations efficiently.
problem Approximating solutions to high-dimensional HJB equations.
method Deep neural networks for approximating solutions.
result Deep neural networks can approximate solutions without the curse of dimensionality.
Optimal inequalities found between Riemannian and Hilbert metrics in convex projective domains.
problem Finding optimal bounds between Riemannian and Hilbert metrics in convex projective domains.
method Optimal control techniques applied to Riemannian metrics induced by centro-affine hypersurface immersions.
result Optimal inequalities between Riemannian and Hilbert metrics for a class of convex projective domains.
We investigate necessary and sufficient conditions under which a general nonlinear affine control system with outputs can be written as a gradient control system corresponding to some pseudo-Riemannian metric defined on the state space. The results rely on a suitable notion of compatibility of the system with respect t…
Differentiable layers for convex optimization problems.
problem Rigidity of existing differentiable optimization layers.
method Disciplined parametrized programming and affine-solver-affine form.
result Efficient analytical differentiation through convex programs.
Framework uses optimal transport to quantify model risk in stochastic path laws.
problem Model risk in stochastic path laws.
method Signature-induced optimal transport framework.
result Explicit robust bounds and budget-aware sparse surrogate method.
The paper designs neural networks with assurance for controlling nonlinear systems.
problem Designing neural networks with assurance for nonlinear system control.
method Bounding the number of affine functions needed for a CPWA function, connecting it to a TLL NN architecture.
result The TLL NN architecture is parameterized by the number of affine functions in the CPWA function it realizes.
We introduce a new method to measure model risk using optimal transport on path signatures.
problem Measuring model risk in financial and insurance models.
method Signature-induced optimal transport framework.
result Explicit robust bounds and a budget-aware sparse surrogate method.
In this paper, we put the issue of dynamic equivalence of control systems in the context of pullbacks of coframings on infinite jet bundles over the state manifolds. While much attention has been given to differentially flat systems, i.e. systems dynamically equivalent to linear control systems, the advantage of this a…
The aim of this paper is to prove that a control affine system on a manifold is equivalent by diffeomorphism to a linear system on a Lie group or a homogeneous space if and only the vector fields of the system are complete and generate a finite dimensional Lie algebra. A vector field on a connected Lie group is linear …
Nonsmooth High-Order Averaging Theory with Application to Extremum Seeking Optimization and Controlmath.OC
New theory for nonsmooth systems helps optimize and control complex functions.
problem Optimizing and controlling systems with nonsmooth functions.
method Higher-order averaging theory with nonsmooth near-identity transformation and lexicographic differentiation.
result Closed formula for nonsmooth first and second-order averaging.
New NN design for nonlinear systems control with guarantees.
problem Designing NN architectures for nonlinear system control with guarantees.
method Exploits system model to design NN architecture, uses TLL NN for approximation.
result Guaranteed NN architecture sufficient for implementing a controller.
Paper classifies conic submanifolds in control systems.
problem Characterizing and classifying conic submanifolds in control systems.
method Feedback equivalence of control-affine and fully nonlinear systems.
result Complete description of non-degenerate conic submanifolds.
Non-linear control rules improve smart inverter performance in fluctuating grids.
problem Optimizing smart inverter control for voltage regulation and energy efficiency in fluctuating grids.
method Customized non-linear control rules designed as a kernel-based regression task, leveraging a linearized grid model and convex optimization.
result Non-linear control rules achieve near-optimal performance in real-world tests, minimizing voltage deviations and ohmic losses.
Pontryagin's Maximum Principle is an outstanding result for solving optimal control problems by means of optimizing a specific function on some particular variables, the so called controls. However, this is not always enough for solving all these problems. A high order maximum principle (Krener, 1977) must be used in o…
The abstract discusses convergent realizations of Lie subalgebras in control theory.
problem Characterizing Lie subalgebras that can be realized as convergent vector fields.
method Generalizations and reformulations of algebraic properties for output realization.
result Recovery and clarification of previous results on control-affine systems and realization of Chen-Fliess series.
Optimizes dividends with stability for risky businesses.
problem Maximizing dividends with stability in risky businesses.
method Linear-quadratic optimization for a general Lévy process.
result Derives optimal affine dividend strategies with stability.
New bounds on optimal transport regularization show faster convergence rates than previously known.
problem Understanding the localization rate of Quadratically Regularized Optimal Transport (QOT) optimizers.
method Established lower bounds and derived mean-squared deviation controls for QOT optimizers.
result Lower bound of support concentration rate in directed Hausdorff distance.
We investigate local configuration controllability for mechanical control systems within the affine connection formalism. Extending the work by Lewis for the single-input case, we are able to characterize local configuration controllability for systems with degrees of freedom and input forces.
Study proves existence of multiple geodesics in a specific metric space.
problem Existence of multiple geodesics in a manifold with a Randers-Kropina metric.
method Lusternik-Schnirelman theory applied to a homotopy type of solutions of an affine control system.
result Proves existence of infinitely many geodesics between two points in a non-contractible manifold.
Study on convex ordering in stochastic control for swing contracts, proving value function convexity.
problem Pricing of swing contracts under stochastic dynamics.
method Discrete-time stochastic optimal control problem, convexity propagation, Brownian diffusion model, Stein's formula.
result Value function is convex in underlying asset price, relaxation of convexity assumption for semi-convexity.
Unified framework for hard affine SDP constraints in vRKHSs.
problem Incorporating shape constraints into predictive models for rich function classes.
method Unified convex optimization framework using second-order cone tightening.
result Unified and modular approach for handling multiple shape constraints.
The paper studies time-optimal problems on specific Lie groups, describing orbits and integrals.
problem Time-optimal control problems on two-step Carnot groups.
method Description of co-adjoint orbits, Casimir functions, and integrals for the Hamiltonian system.
result Characterization of the flow and constancy of solutions for two-dimensional co-adjoint orbits.
This paper extends stock trading results to include stop-loss orders.
problem Generalizing stock trading results with stop-loss orders.
method Geometric Brownian motion model, affine feedback controller, closed-form expression for cumulative distribution function.
result Affine feedback controller with stop-loss order generalizes results without stop-loss orders.
Motion planning and control are key problems in a collection of robotic applications including the design of autonomous agile vehicles and of minimalist manipulators. These problems can be accurately formalized within the language of affine connections and of geometric control theory. In this paper we overview recent r…
Safe learning in uncertain systems with state measurements and optimization.
problem Safe learning in nonlinear control-affine systems with unknown additive uncertainty.
method Model uncertainty as Gaussian noise, learn mean and covariance, use optimization to adjust control input.
result Guaranteed safety with arbitrarily large probability while learning and control proceed simultaneously.
Optimization geometrodynamics simplifies adaptive optimizer dynamics.
problem Hidden states in adaptive optimizers complicate gradient-based learning.
method Develops a variational theory to eliminate hidden states and compose across hierarchies.
result Yields interaction curvature that integrates to finite contrasts.
Paper develops algorithms for PWA systems with polynomial regret.
problem Learning in piecewise affine systems due to discontinuities.
method Smoothed online learning framework applied to PWA systems.
result First algorithms with polynomial regret in PWA systems.
Yau's Affine Normal Descent optimizes smooth unconstrained problems with geometrically adapted directions.
problem Optimizing smooth unconstrained problems with geometrically adapted directions.
method Yau's Affine Normal Descent (YAND) uses the equi-affine normal of level-set hypersurfaces as search directions.
result YAND converges globally under standard smoothness assumptions and locally quadratically near nondegenerate minimizers.
Optimal Volt/VAR control rules designed using deep learning.
problem Designing optimal Volt/VAR control rules for DERs to regulate voltage fluctuations.
method Formulated as a deep learning problem, where a DNN emulates Volt/VAR dynamics and optimizes rule parameters.
result DNN-based optimization outperforms MINLP in efficiency and accuracy.