AA/EE/ME 550

Nonlinear Optimal Control

Instructor:   Brian C. Fabien, 
Office:        206 Mechanical Engineering Building
Phone:        (206) 543-6915, 
e-mail:        fabien@u.washington.edu
Office hours: Wed. 9 am - 12 noon, and by appointment
Internet:        http://abs-5.me.washington.edu/me550/


Outline:  Course outline
Notes:    Nonlinear Optimal Control

Exam 2

Lecture notes 10/29
           
Lectures:

Week 1:
 10/1 Static optimization:
            Unconstrained functions
            Equality constraints

Week 2:
10/6    Static optimization:
                Equality and inequality constraints
10/8    Inequality constraints examples
                Optimal control problem 1: Fixed final time, free end point

Week 3:
10/13    Optimal control problem 1: examples
10/15    Second-order conditions
         
Week 4:

10/20 Optimal control problem 2: Fixed final time, end point on a manifold
          Optimal control problem 3: Free final time

10/22  Free final time examples
          Optimal control problem 4: Parameters

Week 5:
10/27 Review exam 1
10/29 Optimal control:
             State/control variable equality and inequality constraints

Week 6:
11/3 The Pontryagin minimum principle
11/5   Singular optimal control problems

Week 7:
11/10 
11/12  Numerical solution of static optimization problems
             Unconstrained optimization

Week 8:
11/17 Numerical solution of static optimization problems
                Equality and inequality constrained optimization
11/19 Solution of the strictly convex quadratic programming problem

Week 9:
11/24 Transcription of the optimal control problem
11/26 Thanksgiving Holiday

Week 10:
12/1 Implementation of a dynamic system optimization algorithm
12/3  Optimal control of a waterjet cutting system

Week 11:
12/8 Optimal design of stacked-ply composite flywheels
12/10  Optimal control of a two-link planar robot

Textbook (OPTIONAL!):   S. K. Agrawal and B. C. Fabien, Optimization of Dynamic Systems, Kluwer Academic Publishers, 1999.

Class schedule:

    Lectures: TTh 8:30-9:50 (Low 216)

Grading:

There will be three exams and a final exam in this course.

Exam 1 (30%):  There are 4 problems.  Due by 5 pm on Monday October 26.   
Exam 2 (30%):   On web site at 5 pm on Friday Nov. 20.  Due by 5 pm on Monday November 23.
Final Exam (40%):     On web site at 5 pm on Friday Dec. 11.  Due by 5 pm on Monday Dec. 14.