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We study Transformers through the perspective of optimal control theory, using tools from continuous-time formulations to derive actionable insights into training and architecture design. This framework improves the performance of existing…
We present a new framework for prioritized multi-task motion-force control of fully-actuated robots. This work is established on a careful review and comparison of the state of the art. Some control frameworks are not optimal, that is they…
Predictive Stator Current Control (PSCC) has been proposed for control of multi-phase drives. The flexibility offered by the use of a Cost Function has been used to deal with the increased number of phases. However, tuning of the Weighting…
Biological molecular machines convert free energy between different forms in cells, often at high efficiency. Optimal control theory provides a framework to elucidate design principles governing energetically efficient driving. Here, we use…
Sensorless control of Permanent-Magnet Synchronous Motors at low velocity remains a challenging task. A now well-established method consists in injecting a high-frequency signal and use the rotor saliency, both geometric and…
Optimal control of stochastic nonlinear dynamical systems is a major challenge in the domain of robot learning. Given the intractability of the global control problem, state-of-the-art algorithms focus on approximate sequential optimization…
Optimal control of a mobile robot system is formulated. Multiobjective criteria of time and energy is employed. The optimal control problem is formulated as a nonlinear programming problem (NLP). The problem is solved using the direct…
The transition to electric transportation demands efficient and cost-effective powertrains. Optimizing energy use is crucial for extending range and reducing expenses. However, comparing inverter and motor efficiency based on inverter…
A new three-phase hybrid-excited multi-tooth switched reluctance motor with embedded permanent magnets is proposed, capable of achieving higher torque density for transportation electrification applications. Operating principles and design…
Time-optimal control of a multi-rotor remains an open problem due to the under-actuation and nonlinearity of its dynamics, which make it difficult to solve this problem directly. In this paper, the time-optimal control problem of the…
This paper presents a real time control strategy for energy storage systems integration in electric vehicles fast charging applications combined with generation from intermittent renewable energy sources. A two steps approach taking…
Traffic congestion has dire economic and social impacts in modern metropolitan areas. To address this problem, in this paper we introduce a novel type of model-free transactive controllers to manage vehicle traffic in highway networks for…
Optimal control theory provides recipes to achieve quantum operations with high fidelity and speed, as required in quantum technologies such as quantum sensing and computation. While technical advances have achieved the ultrastrong driving…
This paper proposes a method for direct torque control of Brushless DC (BLDC) motors. Evaluating the trapezium of back-EMF is needed, and is done via a sliding mode observer employing just one measurement of stator current. The effect of…
We consider joint control of a switchable capacitor and a D-STATCOM for voltage regulation in a distribution circuit with intermittent load. The control problem is formulated as a two-timescale optimal power flow problem with chance…
In recent times adaptive regulation of sampling rates has gained significant attention in research community and researchers has demonstrated it's effectiveness in embedded control applications from different perspectives. In low power…
The effectiveness of a robot manipulation to a large extent is determined by the speed of making this or that movement needed for carrying out the task. Accordingly to this the problem of optimal robot control is often subdivided into two…
The optimal feedforward torque control problem is tackled and solved analytically for synchronous machines while stator resistance and cross-coupling inductance are explicitly considered. Analytical solutions for the direct and quadrature…
This paper presents a framework to jointly optimize the design and control of an electric race car equipped with a multiple-gear transmission, specifically accounting for the discrete gearshift dynamics. We formulate the problem as a…
We study how high charging rate demands from electric vehicles (EVs) in a power distribution grid may collectively cause poor dynamic performance, and propose a price incentivization strategy to steer customers to settle for lesser charging…