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This thesis deals with the hp-finite element method (FEM) for linear quadratic optimal control problems. Here, a tracking type functional with control costs as regularization shall be minimized subject to an elliptic partial differential equation. In the presence of control constraints, the first order necessary conditions, which are typically used to find optimal solutions numerically, can be formulated as a semi-smooth projection formula. Consequently, optimal solutions may be non-smooth as well. The hp-discretization technique considers this fact and approximates rough functions on fine meshes while using higher order finite elements on domains where the solution is smooth.
The first main achievement of this thesis is the successful application of hp-FEM to two related problem classes: Neumann boundary and interface control problems. They are solved with an a-priori refinement strategy called boundary concentrated (bc) FEM and interface concentrated (ic) FEM, respectively. These strategies generate grids that are heavily refined towards the boundary or interface. We construct an elementwise interpolant that allows to prove algebraic decay of the approximation error for both techniques. Additionally, a detailed analysis of global and local regularity of solutions, which is critical for the speed of convergence, is included. Since the bc- and ic-FEM retain small polynomial degrees for elements touching the boundary and interface, respectively, we are able to deduce novel error estimates in the L2- and L∞-norm. The latter allows an a-priori strategy for updating the regularization parameter in the objective functional to solve bang-bang problems.
Furthermore, we apply the traditional idea of the hp-FEM, i.e., grading the mesh geometrically towards vertices of the domain, for solving optimal control problems (vc-FEM). In doing so, we obtain exponential convergence with respect to the number of unknowns. This is proved with a regularity result in countably normed spaces for the variables of the coupled optimality system.
The second main achievement of this thesis is the development of a fully adaptive hp-interior point method that can solve problems with distributed or Neumann control. The underlying barrier problem yields a non-linear optimality system, which poses a numerical challenge: the numerically stable evaluation of integrals over possibly singular functions in higher order elements. We successfully overcome this difficulty by monitoring the control variable at the integration points and enforcing feasibility in an additional smoothing step. In this work, we prove convergence of an interior point method with smoothing step and derive a-posteriori error estimators. The adaptive mesh refinement is based on the expansion of the solution in a Legendre series. The decay of the coefficients serves as an indicator for smoothness that guides between h- and p-refinement.
The investigation of interacting multi-agent models is a new field of mathematical research with application to the study of behavior in groups of animals or community of people. One interesting feature of multi-agent systems is collective behavior. From the mathematical point of view, one of the challenging issues considering with these dynamical models is development of control mechanisms that are able to influence the time evolution of these systems.
In this thesis, we focus on the study of controllability, stabilization and optimal control problems for multi-agent systems considering three models as follows: The first one is the Hegselmann Krause opinion formation (HK) model. The HK dynamics describes how individuals' opinions are changed by the interaction with others taking place in a bounded domain of confidence. The study of this model focuses on determining feedback controls in order to drive the agents' opinions to reach a desired agreement. The second model is the Heider social balance (HB) model. The HB dynamics explains the evolution of relationships in a social network. One purpose of studying this system is the construction of control function in oder to steer the relationship to reach a friendship state. The third model that we discuss is a flocking model describing collective motion observed in biological systems. The flocking model under consideration includes self-propelling, friction, attraction, repulsion, and alignment features. We investigate a control for steering the flocking system to track a desired trajectory. Common to all these systems is our strategy to add a leader agent that interacts with all other members of the system and includes the control mechanism.
Our control through leadership approach is developed using classical theoretical control methods and a model predictive control (MPC) scheme. To apply the former method, for each model the stability of the corresponding linearized system near consensus is investigated. Further, local controllability is examined. However, only in the
Hegselmann-Krause opinion formation model, the feedback control is determined in order to steer agents' opinions to globally converge to a desired agreement. The MPC approach is an optimal control strategy based on numerical optimization. To apply the MPC scheme, optimal control problems for each model are formulated where the objective functions are different depending on the desired objective of the problem. The first-oder necessary optimality conditions for each problem are presented. Moreover for the numerical treatment, a sequence of open-loop discrete optimality systems is solved by accurate Runge-Kutta schemes, and in the optimization procedure, a nonlinear conjugate gradient solver is implemented. Finally, numerical experiments are performed to investigate the properties of the multi-agent models and demonstrate the ability of the proposed control strategies to drive multi-agent systems to attain a desired consensus and to track a given trajectory.