510 Mathematik
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This thesis is devoted to numerical verification of optimality conditions for non-convex optimal control problems. In the first part, we are concerned with a-posteriori verification of sufficient optimality conditions. It is a common knowledge that verification of such conditions for general non-convex PDE-constrained optimization problems is very challenging. We propose a method to verify second-order sufficient conditions for a general class of optimal control problem. If the proposed verification method confirms the fulfillment of the sufficient condition then a-posteriori error estimates can be computed. A special ingredient of our method is an error analysis for the Hessian of the underlying optimization problem. We derive conditions under which positive definiteness of the Hessian of the discrete problem implies positive definiteness of the Hessian of the continuous problem. The results are complemented with numerical experiments. In the second part, we investigate adaptive methods for optimal control problems with finitely many control parameters. We analyze a-posteriori error estimates based on verification of second-order sufficient optimality conditions using the method developed in the first part. Reliability and efficiency of the error estimator are shown. We illustrate through numerical experiments, the use of the estimator in guiding adaptive mesh refinement.
The bounded input bounded output (BIBO) stability for a nonlinear Caputo fractional system with time‐varying bounded delay and nonlinear output is studied. Utilizing the Razumikhin method, Lyapunov functions and appropriate fractional derivatives of Lyapunov functions some new bounded input bounded output stability criteria are derived. Also, explicit and independent on the initial time bounds of the output are provided. Uniform BIBO stability and uniform BIBO stability with input threshold are studied. A numerical simulation is carried out to show the system's dynamic response, and demonstrate the effectiveness of our theoretical results.
The Bateman functions and the allied Havelock functions were introduced as solutions of some problems in hydrodynamics about ninety years ago, but after a period of one or two decades they were practically neglected. In handbooks, the Bateman function is only mentioned as a particular case of the confluent hypergeometric function. In order to revive our knowledge on these functions, their basic properties (recurrence functional and differential relations, series, integrals and the Laplace transforms) are presented. Some new results are also included. Special attention is directed to the Bateman and Havelock functions with integer orders, to generalizations of these functions and to the Bateman-integral function known in the literature.
We give a collection of 16 examples which show that compositions \(g\) \(\circ\) \(f\) of well-behaved functions \(f\) and \(g\) can be badly behaved. Remarkably, in 10 of the 16 examples it suffices to take as outer function \(g\) simply a power-type or characteristic function. Such a collection of examples may serve as a source of exercises for a calculus course.
Theoretical and numerical investigation of optimal control problems governed by kinetic models
(2021)
This thesis is devoted to the numerical and theoretical analysis of ensemble optimal control problems governed by kinetic models. The formulation and study of these problems have been put forward in recent years by R.W. Brockett with the motivation that ensemble control may provide a more general and robust control framework for dynamical systems. Following this formulation, a Liouville (or continuity) equation with an unbounded drift function is considered together with a class of cost functionals that include tracking of ensembles of trajectories of dynamical systems and different control costs. Specifically, $L^2$, $H^1$ and $L^1$ control costs are taken into account which leads to non--smooth optimization problems. For the theoretical investigation of the resulting optimal control problems, a well--posedness theory in weighted Sobolev spaces is presented for Liouville and related transport equations. Specifically, existence and uniqueness results for these equations and energy estimates in suitable norms are provided; in particular norms in weighted Sobolev spaces. Then, non--smooth optimal control problems governed by the Liouville equation are formulated with a control mechanism in the drift function. Further, box--constraints on the control are imposed. The control--to--state map is introduced, that associates to any control the unique solution of the corresponding Liouville equation. Important properties of this map are investigated, specifically, that it is well--defined, continuous and Frechet differentiable. Using the first two properties, the existence of solutions to the optimal control problems is shown. While proving the differentiability, a loss of regularity is encountered, that is natural to hyperbolic equations. This leads to the need of the investigation of the control--to--state map in the topology of weighted Sobolev spaces. Exploiting the Frechet differentiability, it is possible to characterize solutions to the optimal control problem as solutions to an optimality system. This system consists of the Liouville equation, its optimization adjoint in the form of a transport equation, and a gradient inequality. Numerical methodologies for solving Liouville and transport equations are presented that are based on a non--smooth Lagrange optimization framework. For this purpose, approximation and solution schemes for such equations are developed and analyzed. For the approximation of the Liouville model and its optimization adjoint, a combination of a Kurganov--Tadmor method, a Runge--Kutta scheme, and a Strang splitting method are discussed. Stability and second--order accuracy of these resulting schemes are proven in the discrete $L^1$ norm. In addition, conservation of mass and positivity preservation are confirmed for the solution method of the Liouville model. As numerical optimization strategy, an adapted Krylow--Newton method is applied. Since the control is considered to be an element of $H^1$ and to obey certain box--constraints, a method for calculating a $H^1$ projection is presented. Since the optimal control problem is non-smooth, a semi-smooth adaption of Newton's method is taken into account. Results of numerical experiments are presented that successfully validate the proposed deterministic framework. After the discussion of deterministic schemes, the linear space--homogeneous Keilson--Storer master equation is investigated. This equation was originally developed for the modelling of Brownian motion of particles immersed in a fluid and is a representative model of the class of linear Boltzmann equations. The well--posedness of the Keilson--Storer master equation is investigated and energy estimates in different topologies are derived. To solve this equation numerically, Monte Carlo methods are considered. Such methods take advantage of the kinetic formulation of the Liouville equation and directly implement the behaviour of the system of particles under consideration. This includes the probabilistic behaviour of the collisions between particles. Optimal control problems are formulated with an objective that is constituted of certain expected values in velocity space and the $L^2$ and $H^1$ costs of the control. The problems are governed by the Keilson--Storer master equation and the control mechanism is considered to be within the collision kernel. The objective of the optimal control of this model is to drive an ensemble of particles to acquire a desired mean velocity and to achieve a desired final velocity configuration. Existence of solutions of the optimal control problem is proven and a Keilson--Storer optimality system characterizing the solution of the proposed optimal control problem is obtained. The optimality system is used to construct a gradient--based optimization strategy in the framework of Monte--Carlo methods. This task requires to accommodate the resulting adjoint Keilson--Storer model in a form that is consistent with the kinetic formulation. For this reason, we derive an adjoint Keilson--Storer collision kernel and an additional source term. A similar approach is presented in the case of a linear space--inhomogeneous kinetic model with external forces and with Keilson--Storer collision term. In this framework, a control mechanism in the form of an external space--dependent force is investigated. The purpose of this control is to steer the multi--particle system to follow a desired mean velocity and position and to reach a desired final configuration in phase space. An optimal control problem using the formulation of ensemble controls is stated with an objective that is constituted of expected values in phase space and $H^1$ costs of the control. For solving the optimal control problems, a gradient--based computational strategy in the framework of Monte Carlo methods is developed. Part of this is the denoising of the distribution functions calculated by Monte Carlo algorithms using methods of the realm of partial differential equations. A standalone C++ code is presented that implements the developed non--linear conjugated gradient strategy. Results of numerical experiments confirm the ability of the designed probabilistic control framework to operate as desired. An outlook section about optimal control problems governed by non--linear space--inhomogeneous kinetic models completes this thesis.
This paper is devoted to the numerical analysis of non-smooth ensemble optimal control problems governed by the Liouville (continuity) equation that have been originally proposed by R.W. Brockett with the purpose of determining an efficient and robust control strategy for dynamical systems. A numerical methodology for solving these problems is presented that is based on a non-smooth Lagrange optimization framework where the optimal controls are characterized as solutions to the related optimality systems. For this purpose, approximation and solution schemes are developed and analysed. Specifically, for the approximation of the Liouville model and its optimization adjoint, a combination of a Kurganov–Tadmor method, a Runge–Kutta scheme, and a Strang splitting method are discussed. The resulting optimality system is solved by a projected semi-smooth Krylov–Newton method. Results of numerical experiments are presented that successfully validate the proposed framework.
The goal of this thesis is to investigate conformal mappings onto circular arc polygon domains, i.e. domains that are bounded by polygons consisting of circular arcs instead of line segments.
Conformal mappings onto circular arc polygon domains contain parameters in addition to the classical parameters of the Schwarz-Christoffel transformation. To contribute to the parameter problem of conformal mappings from the unit disk onto circular arc polygon domains, we investigate two special cases of these mappings. In the first case we can describe the additional parameters if the bounding circular arc polygon is a polygon with straight sides. In the second case we provide an approximation for the additional parameters if the circular arc polygon domain satisfies some symmetry conditions. These results allow us to draw conclusions on the connection between these additional parameters and the classical parameters of the mapping.
For conformal mappings onto multiply connected circular arc polygon domains, we provide an alternative construction of the mapping formula without using the Schottky-Klein prime function. In the process of constructing our main result, mappings for domains of connectivity three or greater, we also provide a formula for conformal mappings onto doubly connected circular arc polygon domains. The comparison of these mapping formulas with already known mappings allows us to provide values for some of the parameters of the mappings onto doubly connected circular arc polygon domains if the image domain is a polygonal domain.
The different components of the mapping formula are constructed by using a slightly modified variant of the Poincaré theta series. This construction includes the design of a function to remove unwanted poles and of different versions of functions that are analytic on the domain of definition of the mapping functions and satisfy some special functional equations.
We also provide the necessary concepts to numerically evaluate the conformal mappings onto multiply connected circular arc polygon domains. As the evaluation of such a map requires the solution of a differential equation, we provide a possible configuration of curves inside the preimage domain to solve the equation along them in addition to a description of the procedure for computing either the formula for the doubly connected case or the case of connectivity three or greater. We also describe the procedures for solving the parameter problem for multiply connected circular arc polygon domains.
Many optimization problems for a smooth cost function f on a manifold M can be solved by determining the zeros of a vector field F; such as e.g. the gradient F of the cost function f. If F does not depend on additional parameters, numerous zero-finding techniques are available for this purpose. It is a natural generalization however, to consider time-dependent optimization problems that require the computation of time-varying zeros of time-dependent vector fields F(x,t). Such parametric optimization problems arise in many fields of applied mathematics, in particular path-following problems in robotics, recursive eigenvalue and singular value estimation in signal processing, as well as numerical linear algebra and inverse eigenvalue problems in control theory. In the literature, there are already some tracking algorithms for these tasks, but these do not always adequately respect the manifold structure. Hence, available tracking results can often be improved by implementing methods working directly on the manifold. Thus, intrinsic methods are of interests that evolve during the entire computation on the manifold. It is the task of this thesis, to develop such intrinsic zero finding methods. The main results of this thesis are as follows: - A new class of continuous and discrete tracking algorithms is proposed for computing zeros of time-varying vector fields on Riemannian manifolds. This was achieved by studying the newly introduced time-varying Newton Flow and the time-varying Newton Algorithm on Riemannian manifolds. - Convergence analysis is performed on arbitrary Riemannian manifolds. - Concretization of these results on submanifolds, including for a new class of algorithms via local parameterizations. - More specific results in Euclidean space are obtained by considering inexact and underdetermined time-varying Newton Flows. - Illustration of these newly introduced algorithms by examining time-varying tracking tasks in three application areas: Subspace analysis, matrix decompositions (in particular EVD and SVD) and computer vision.
The success of diagnostic knowledge systems has been proved over the last decades. Nowadays, intelligent systems are embedded in machines within various domains or are used in interaction with a user for solving problems. However, although such systems have been applied very successfully the development of a knowledge system is still a critical issue. Similarly to projects dealing with customized software at a highly innovative level a precise specification often cannot be given in advance. Moreover, necessary requirements of the knowledge system can be defined not until the project has been started or are changing during the development phase. Many success factors depend on the feedback given by users, which can be provided if preliminary demonstrations of the system can be delivered as soon as possible, e.g., for interactive systems validation the duration of the system dialog. This thesis motivates that classical, document-centered approaches cannot be applied in such a setting. We cope with this problem by introducing an agile process model for developing diagnostic knowledge systems, mainly inspired by the ideas of the eXtreme Programming methodology known in software engineering. The main aim of the presented work is to simplify the engineering process for domain specialists formalizing the knowledge themselves. The engineering process is supported at a primary level by the introduction of knowledge containers, that define an organized view of knowledge contained in the system. Consequently, we provide structured procedures as a recommendation for filling these containers. The actual knowledge is acquired and formalized right from start, and the integration to runnable knowledge systems is done continuously in order to allow for an early and concrete feedback. In contrast to related prototyping approaches the validity and maintainability of the collected knowledge is ensured by appropriate test methods and restructuring techniques, respectively. Additionally, we propose learning methods to support the knowledge acquisition process sufficiently. The practical significance of the process model strongly depends on the available tools supporting the application of the process model. We present the system family d3web and especially the system d3web.KnowME as a highly integrated development environment for diagnostic knowledge systems. The process model and its activities, respectively, are evaluated in two real life applications: in a medical and in an environmental project the benefits of the agile development are clearly demonstrated.