The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 06, 2020
Filed:
Jul. 30, 2018
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
Claus Danielson, Somerville, MA (US);
Mitsubishi Electric Research Laboratories, Inc., Cambridge, MA (US);
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.