The solution of optimal control problems through the Hamilton-Jacobi-Bellman (HJB) equation offers guaranteed satisfaction of both the necessary and sufficient conditions for optimality. However, finding an exact solution to the HJB equation is a near impossible task for many optimal control problems. This thesis presents an approximation method for solving finite-horizon optimal control problems involving nonlinear dynamical systems. The method uses finite-order approximations of the partial derivatives of the cost-to-go function, and successive higher-order differentiations of the HJB equation. Natural byproducts of the proposed method provide sensitivities of the controls to changes in the initial states, which can be used to approximate the solution to neighboring optimal control problems. For highly nonlinear problems, the method is modified to calculate control sensitivities about a nominal trajectory. In this framework, the method is shown to provide accurate control sensitivities at much lower orders of approximation. Several numerical examples are presented to illustrate both applications of the approximation method.

The solution of optimal control problems through the Hamilton-Jacobi-Bellman (HJB) equation offers guaranteed satisfaction of both the necessary and sufficient conditions for optimality. However, finding an exact solution to the HJB equation is a near impossible task for many optimal control problems. This thesis presents an approximation method for solving finite-horizon optimal control problems involving nonlinear dynamical systems. The method uses finite-order approximations of the partial derivatives of the cost-to-go function, and successive higher-order differentiations of the HJB equation. Natural byproducts of the proposed method provide sensitivities of the controls to changes in the initial states, which can be used to approximate the solution to neighboring optimal control problems. For highly nonlinear problems, the method is modified to calculate control sensitivities about a nominal trajectory. In this framework, the method is shown to provide accurate control sensitivities at much lower orders of approximation. Several numerical examples are presented to illustrate both applications of the approximation method.

The Bolza-form of the finite-time constrained optimal control problem leads to the Hamilton-Jacobi-Bellman (HJB) equation with terminal boundary conditions and tobe- determined parameters. In general, it is a formidable task to obtain analytical and/or numerical solutions to the HJB equation. This dissertation presents two novel polynomial expansion methodologies for solving optimal feedback control problems for a class of polynomial nonlinear dynamical systems with terminal constraints. The first approach uses the concept of higher-order series expansion methods. Specifically, the Series Solution Method (SSM) utilizes a polynomial series expansion of the cost-to-go function with time-dependent coefficient gains that operate on the state variables and constraint Lagrange multipliers. A significant accomplishment of the dissertation is that the new approach allows for a systematic procedure to generate optimal feedback control laws that exactly satisfy various types of nonlinear terminal constraints. The second approach, based on modified Galerkin techniques for the solution of terminally constrained optimal control problems, is also developed in this dissertation. Depending on the time-interval, nonlinearity of the system, and the terminal constraints, the accuracy and the domain of convergence of the algorithm can be related to the order of truncation of the functional form of the optimal cost function. In order to limit the order of the expansion and still retain improved midcourse performance, a waypoint scheme is developed. The waypoint scheme has the dual advantages of reducing computational efforts and gain-storage requirements. This is especially true for autonomous systems. To illustrate the theoretical developments, several aerospace application-oriented examples are presented, including a minimum-fuel orbit transfer problem. Finally, the series solution method is applied to the solution of a class of partial differential equations that arise in robust control and differential games. Generally, these problems lead to the Hamilton-Jacobi-Isaacs (HJI) equation. A method is presented that allows this partial differential equation to be solved using the structured series solution approach. A detailed investigation, with several numerical examples, is presented on the Nash and Pareto-optimal nonlinear feedback solutions with a general terminal payoff. Other significant applications are also discussed for one-dimensional problems with control inequality constraints and parametric optimization.

The presented thesis project is a study on train energy consumption calculation and optimal train driving strategies for minimum energy consumption. This study is divided into three parts; the first part is a proposed model for energy consumption calculation for trains based on driving resistances. The second part is a presentation of a method based on dynamic programming and the Hamilton-Jacobi-Bellman equation (Bellman’s backward approach) for obtaining optimal speed and control profiles leading to minimum energy consumption. The third part is a case study for a Bombardier Transportation case. It includes the presentation of a preliminary algorithm developed within this thesis project; an algorithm based on the HJB equation that can be further improved in order to be used online in real-time as an advisory system for train drivers.

Artificial vision is the problem of creating systems capable of processing visual information. A fundamental sub-problem of artificial vision is image segmentation, the problem of detecting a structure from a digital image. Examples of segmentation problems include the detection of a road from an aerial photograph or the determination of the boundaries of the brain's ventricles from medical imagery. The extraction of structures allows for subsequent higher-level cognitive tasks. One of them is shape comparison. For example, if the brain ventricles of a patient are segmented, can their shapes be used for diagnosis? That is to say, do the shapes of the extracted ventricles resemble more those of healthy patients or those of patients suffering from schizophrenia? This thesis deals with the problem of image segmentation and shape comparison in the mathematical framework of partial differential equations. The contribution of this thesis is threefold: 1. A technique for the segmentation of regions is proposed. A cost functional is defined for regions based on a non-parametric functional of the distribution of image intensities inside the region. This cost is constructed to favor regions that are homogeneous. Regions that are optimal with respect to that cost can be determined with limited user interaction. 2. The use of direction information is introduced for the segmentation of open curves and closed surfaces. A cost functional is defined for structures (curves or surfaces) by integrating a local, direction-dependent pattern detector along the structure. Optimal structures, corresponding to the best match with the pattern detector, can be determined using efficient algorithms. 3. A technique for shape comparison based on the Laplace equation is proposed. Given two surfaces, one-to-one correspondences are determined that allow for the characterization of local and global similarity measures. The local differences among shapes (resulting for example from a segmentation step) can be visualized for qualitative evaluation by a human expert. It can also be used for classifying shapes into, for example, normal and pathological classes.

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A presente dissertação expõe o ambiente em que o Problema de Merton é construído e, baseando-se na bibliografia apresentada, constrói exemplos em softwares cujas especificidades podem colaborar na clareza da resolução. O software Matlab engloba as soluções numéricas, enquanto o software Maple é responsável pela solução de equações diferenciais ordinárias e parciais de forma simbólica. Apresenta-se modificações do Problema de Merton original como exercícios para melhor esclarecer os diferentes parâmetros abordados. Na seção final é apresentada a solução de viscosidade, uma alternativa quando a função valor não apresenta características desejáveis para a análise apresentada. / This dissertation explicit the environment which Merton’s problem is built, according to the presented bibliography, exemples are built in softwares whose specificity might help to clarify the solution. The Matlab software embraces numeric solutions, while Maple software is appropriate to solve ordinary and parcial differential equations in symbolic form. Some modifications are presented to Merton’s Problem as exercise to improve understanding on the variations adopted. On final section, viscosity solutions are presented as an alternative solution for when the value function does not possess the desirables properties that allow the analysis on focus.

A presente dissertação expõe o ambiente em que o Problema de Merton é construído e, baseando-se na bibliografia apresentada, constrói exemplos em softwares cujas especificidades podem colaborar na clareza da resolução. O software Matlab engloba as soluções numéricas, enquanto o software Maple é responsável pela solução de equações diferenciais ordinárias e parciais de forma simbólica. Apresenta-se modificações do Problema de Merton original como exercícios para melhor esclarecer os diferentes parâmetros abordados. Na seção final é apresentada a solução de viscosidade, uma alternativa quando a função valor não apresenta características desejáveis para a análise apresentada. / This dissertation explicit the environment which Merton’s problem is built, according to the presented bibliography, exemples are built in softwares whose specificity might help to clarify the solution. The Matlab software embraces numeric solutions, while Maple software is appropriate to solve ordinary and parcial differential equations in symbolic form. Some modifications are presented to Merton’s Problem as exercise to improve understanding on the variations adopted. On final section, viscosity solutions are presented as an alternative solution for when the value function does not possess the desirables properties that allow the analysis on focus.

A presente dissertação expõe o ambiente em que o Problema de Merton é construído e, baseando-se na bibliografia apresentada, constrói exemplos em softwares cujas especificidades podem colaborar na clareza da resolução. O software Matlab engloba as soluções numéricas, enquanto o software Maple é responsável pela solução de equações diferenciais ordinárias e parciais de forma simbólica. Apresenta-se modificações do Problema de Merton original como exercícios para melhor esclarecer os diferentes parâmetros abordados. Na seção final é apresentada a solução de viscosidade, uma alternativa quando a função valor não apresenta características desejáveis para a análise apresentada. / This dissertation explicit the environment which Merton’s problem is built, according to the presented bibliography, exemples are built in softwares whose specificity might help to clarify the solution. The Matlab software embraces numeric solutions, while Maple software is appropriate to solve ordinary and parcial differential equations in symbolic form. Some modifications are presented to Merton’s Problem as exercise to improve understanding on the variations adopted. On final section, viscosity solutions are presented as an alternative solution for when the value function does not possess the desirables properties that allow the analysis on focus.

京都大学 / 0048 / 新制・課程博士 / 博士(農学) / 甲第22488号 / 農博第2392号 / 新制||農||1076(附属図書館) / 学位論文||R2||N5268(農学部図書室) / 京都大学大学院農学研究科地域環境科学専攻 / (主査)教授 藤原 正幸, 教授 村上 章, 准教授 宇波 耕一 / 学位規則第4条第1項該当 / Doctor of Agricultural Science / Kyoto University / DFAM