Symmetry alternating direction method of multipliers
US10795330B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jul 30, 2018 |
| Grant date | Oct 6, 2020 |
| Priority date | — |
| Expiry date | Oct 18, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06F17/16
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method for controlling an operation of a machine exhibiting symmetries in dynamics of the machine, a cost of the operation of the machine, and constraints on the operation of the machine performs iteratively a control optimization until a termination condition is met to produce an optimal control input and controls the machine according to the optimal control input. An iteration includes transforming control inputs to the machine, a state of the machine, an output of the machine, and dual variables from an original domain to a symmetric domain using a symmetric transformation, solving an optimal control problem of the control inputs and the state for fixed values of the output and the dual variables in the symmetric domain, transforming the control inputs and the state from the symmetric domain into the original domain using an inverse of the symmetric transformation; projecting the outputs corresponding to the control inputs and the state in the original domain onto the constraints, and updating the dual variable based on the projected outputs.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.