Motion Planning for Parabolic Equations Using Flatness and Finite-Difference Approximations

• 成果类型: Article
• 署名作者: Chatterjee, Soham; Natarajan, Vivek
• 署名单位: Indian Institute of Technology System (IIT System); Indian Institute of Technology (IIT) - Bombay
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2025.3525569
• 发表日期: 2025
• 页码: 4439-4454
• 关键词: planning; steady-state; Finite difference methods; CONTROLLABILITY; trajectory; Heating systems; mathematical models; Limiting; Heat transfer; STANDARDS; discrete-time system; finite-difference discretization; flatness; null control; steady-state transfer

摘要

We consider the problem of finding an input signal which transfers a linear boundary controlled 1-D parabolic partial differential equation with spatially varying coefficients from a given initial state to a desired final state. The initial and final states have certain smoothness and the transfer must occur over a given time interval. We address this motion planning problem by first discretizing the spatial derivatives in the parabolic equation using the finite-difference approximation to obtain a linear ODE in time. Then, using the flatness approach we construct an input signal that transfers this ODE between states determined by the initial and final states of the parabolic equation. We prove that, as the discretization step size converges to zero, this input signal converges to a limiting input signal which can perform the desired transfer for the parabolic equation. While earlier works have applied this motion planning approach to constant coefficient parabolic equations, this is the first work to investigate and establish the efficacy of this approach for parabolic equations with discontinuous spatially varying coefficients. Using this approach we can construct input signals which transfer the parabolic equation from one steady-state to another. We show that this approach yields a new proof for the null controllability of 1-D linear parabolic equations containing discontinuous coefficients and also present a numerical scheme for constructing a null control input signal when the initial state is piecewise continuous.