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Symplectic Numerical Approach for Nonlinear Optimal Control of Systems with Inequality Constraints

International Journal of Modern Nonlinear Theory and Application 2015年第4期4卷 234-248页

作者： yoshiki abe Gou Nishida Noboru Sakamoto Yutaka Yamamoto Department of Applied Analysis and Complex Dynamical Systems Graduate School of Informatics Kyoto University Kyoto Japan Department of Mechanical and Environmental informatics Graduate School of Information Science and Engineering Tokyo Institute of Technology Tokyo Japan Department of Mechatronics Faculty of Science and Engineering Nanzan University Nagoya Japan

This paper proposes a system representation for unifying control design and numerical calculation in nonlinear optimal control problems with inequality constraints in terms of the symplectic structure. The symplectic structure is derived from Hamiltonian systems that are equivalent to Hamilton-Jacobi equations. In the representation, the constraints can be described as an input-state transformation of the system. Therefore, it can be seamlessly applied to the stable manifold method that is a precise numerical solver of the Hamilton-Jacobi equations. In conventional methods, e.g., the penalty method or the barrier method, it is difficult to systematically assign the weights of penalty functions that are used for realizing the constraints. In the proposed method, we can separate the adjustment of weights with respect to objective functions from that of penalty functions. Furthermore, the proposed method can extend the region of computable solutions in a state space. The validity of the method is shown by a numerical example of the optimal control of a vehicle model with steering limitations.

关键词： Optimal Controls Nonlinear Systems Constrained Systems Symplectic Numerical Methods Stable Manifold Method

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Research and Implementations of Structural Monitoring for Bridges and Buildings in Japan

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Engineering 2019年第6期5卷 1093-1119页

作者： Yozo Fujino Dionysius MSiringoringo yoshiki Ikeda Tomonori Nagayama Tsukasa Mizutani Institute of Advanced Sciences Yokohama National UniversityYokohama 240-8501Japan Disaster Prevention Research Institute Kyoto UniversityKyoto 611-0011Japan Department of Civil Engineering The University of TokyoTokyo 113-8656Japan

This paper provides a review on the development of structural monitoring in Japan, with an emphasis on the type, strategy, and utilization of monitoring systems. The review focuses on bridge and building structures using vibration-based techniques. Structural monitoring systems in Japan historically started with the objective of evaluating structural responses against extreme events. In the development of structural monitoring, monitoring systems and collected data were used to verify design assumptions, update speci cations, and facilitate the ef cacy of vibration control systems. Strategies and case studies on monitoring for the design veri cation of long-span bridges and tall buildings, the performance of seismic isolation systems in building and bridges, the veri cation of structural retro t, the veri cation of structural control systems (passive, semi-active, and active), structural assessment, and damage detec- tion are described. More recently, the application of monitoring systems has been extended to facilitate ef cient operation and effective maintenance through the rationalization of risk and asset management using monitoring data. This paper also summarizes the lessons learned and feedback obtained from case studies on the structural monitoring of bridges and buildings in Japan.

关键词： Structural monitoring Long-span bridge High-rise building Seismic monitoring Wind-induced responses Pavement and slab monitoring Structural control monitoring Structural assessment

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