Related papers: Online Performance Optimization of a DC Motor Driv…
This paper presents a power distribution network (PDN) decoupling capacitor optimization application with three primary goals: reduction of solution times for large networks, development of flexible network scoring routines, and a…
A data-driven framework is proposed for online estimation of quadrotor motor efficiency via residual minimization. The problem is formulated as a constrained nonlinear optimization that minimizes trajectory residuals between measured flight…
We present a Model Predictive Control (MPC) algorithm for energy management in aircraft with hybrid electric propulsion systems consisting of gas turbine and electric motor components. Series and parallel configurations are considered. By…
A convex formulation is proposed for optimal energy management in aircraft with hybrid propulsion systems consisting of gas turbine and electric motor components. By combining a point-mass aircraft dynamical model with models of electrical…
This paper investigates the problem of tracking solutions of stochastic optimization problems with time-varying costs that depend on random variables with decision-dependent distributions. In this context, we propose the use of an online…
This paper examines the problem of real-time optimization of networked systems and develops online algorithms that steer the system towards the optimal trajectory without explicit knowledge of the system model. The problem is modeled as a…
The trend in the electric power system is to move towards increased amounts of distributed resources which suggests a transition from the current highly centralized to a more distributed control structure. In this paper, we propose a method…
This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlinear optimization that is general enough to produce rich sets…
Flexibility is increasingly gaining importance in modern power system operation. This paper presents a controller framework based on Online Feedback Optimization for real-time coordination of power system flexibility. The proposed approach…
Online Feedback Optimization leverages properties of optimization algorithms to develop controllers for systems with limited model availability, which is often the case in process control. The interplay between the parameters of the chosen…
Model predictive control (MPC) is a powerful tool for planning and controlling dynamical systems due to its capacity for handling constraints and taking advantage of preview information. Nevertheless, MPC performance is highly dependent on…
The high proportions of demand charges in electric bills motivate large-power customers to leverage energy storage for reducing the peak procurement from the outer grid. Given limited energy storage, we expect to maximize the peak-demand…
We propose a method to generate robust and optimal trajectories for the transition of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft leveraging concepts from convex optimisation, tube-based nonlinear Model Predictive Control (MPC)…
Aerial vehicles have recently attracted significant attention in a variety of commercial and civilian applications due to their high mobility, flexible deployment and cost-effectiveness. To leverage these promising features, the aerial…
In this paper, we tackle the problem of flying a quadrotor using time-optimal control policies that can be replanned online when the environment changes or when encountering unknown disturbances. This problem is challenging as the…
In this paper, online convex optimization is applied to the problem of controlling linear dynamical systems. An algorithm similar to online gradient descent, which can handle time-varying and unknown cost functions, is proposed. Then,…
This paper studies the optimal control problem for discrete-time nonlinear systems and an approximate dynamic programming-based Model Predictive Control (MPC) scheme is proposed for minimizing a quadratic performance measure. In the…
This paper presents the results of a numerical algorithm development to optimize the engine strokes in a linear engine incorporating combustion and kickback. Due to the free piston reciprocal movement occurring in linear engines, the stroke…
This paper presents an adaptive online distributed optimal control approach that is applicable to optimal planning for very-large-scale robotics systems in highly uncertain environments. This approach is developed based on the optimal mass…
In recent years, electric vehicle (EV) charging station has experienced an increasing supply-demand mismatch due to its fluctuating renewables and unpredictable charging demand. To reduce its operating cost, this paper proposes a…