Summer School on Direct Methods for Optimal Control of Nonsmooth Systems

anonymous@undisclosed.example.com (Anonymous) — Sun, 24 Dec 2023 15:13:04 +0000

Summer School on Direct Methods for Optimal Control of Nonsmooth Systems

This four-day intensive course aims to provide both theoretical background and hands-on practical knowledge in formulating and numerical methods to solve optimal control problems with nonsmooth differential equation models with switches and state jumps. Nonsmooth dynamical systems arise in robotics, chemical engineering, biology, mechatronics, or aerospace, as soon as some if-else statements, switches, and state jump are encoded in the systems’ dynamics. For example, contacts and friction in robotic systems lead to jumps and switches.

This course provides an introduction and overview of recent advances in numerical methods for solving optimal control problems with switched, nonsmooth and hybrid dynamical systems. We will provide a recap of direct methods for optimal control problems with smooth differential equations, which serve as a basis for tailored methods for the nonsmooth case. We discuss some non-obvious pitfalls and limitations that arise with the application of standard methods to nonsmooth optimal control problems. An overview and classification of the different types of nonsmooth and hybrid systems will be provided. The course will also cover the time-freezing reformulation, which enables exactly reformulating systems with state jumps into switched systems, simplifying their numerical and theoretical treatment. We provide a detailed exposition of tailored methods for the time discretization of nonsmooth systems, with a focus on the Finite Elements with Switch Detection (FESD) method. In contrast to standard methods, it enables the correct computation of numerical sensitivities and high simulation accuracy. After the time-discretization of optimal control problems with nonsmooth systems, one usually has to solve Mathematical Programs with Complementarity Constraints (MPCCs). The course will cover the theory and solution methods for MPCCs.

Location and Schedule

The course takes place from Tuesday, September 12, 2023, to Friday, September 15, 2023, from 9:00-17:30, in the main historical university building in the city center of Freiburg (Kollegiengebäude I, HS 1015, Platz der Universität 3, D-79098 Freiburg).

For more information and registration, please visit: Summer school direct methods optimal control nonsmooth systems

summer-school, optimal-control, nonsmooth-systems, direct-methods, Filippov-systems, DAE, direct-collocation, hybrid-systems, elastic-impacts, FESD, MPCC, Freiburg-University, robotics, 2023

𝐶𝑎𝑟𝑎𝑚𝑖𝑧𝑎𝑟𝑢'𝑠 𝐵𝑙𝑜𝑔 blog:2023:06

Summer School on Direct Methods for Optimal Control of Nonsmooth Systems

Summer School on Direct Methods for Optimal Control of Nonsmooth Systems

Location and Schedule