Related papers: Hands-Off Control as Green Control
Tremendous research efforts have been invested in exploring and designing so-called shortcuts to adiabaticity. These are finite-time processes that produce the same final states that would result from infinitely slow driving. Most of these…
A linear non-modal mechanism for transient amplification of perturbation energy is known to trigger sub-critical transition to turbulence in many shear flows. Feedback control strategies for minimizing this transient energy growth can be…
This paper introduces new conditions for target output controllability and provides existence conditions for placing a specific number of poles with a target output controller. Additionally, an algorithm is presented for the design of a…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
Feedback optimization is a control paradigm that enables physical systems to autonomously reach efficient operating points. Its central idea is to interconnect optimization iterations in closed-loop with the physical plant. Since iterative…
Information processing machines at the nanoscales are unavoidably affected by thermal fluctuations. Efficient design requires understanding how nanomachines can operate at minimal energy dissipation. In this letter we focus on mechanical…
Partial control is a technique used in systems with transient chaos. The aim of this control method is to avoid the escape of the orbits from a region Q of the phase space where the transient chaotic dynamics takes place. This technique is…
Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks, considerations for how the technology can still preserve…
A system's configurational state can be manipulated using dynamic variation of control parameters, such as temperature, pressure, or magnetic field; for finite-duration driving, excess work is required above the equilibrium free-energy…
We consider the problem of designing a feedback controller for a multivariable linear time-invariant system which regulates an arbitrary system output to the solution of an equality-constrained convex optimization problem despite unknown…
In this paper, we consider a company can simultaneously reduce its emissions and buy carbon allowances at any time. We establish an optimal control model involving two stochastic processes with two control variables, which is a singular…
Optimal nonlinear damping control was recently introduced for the second-order SISO systems, showing some advantages over a classical PD feedback controller. This paper summarizes the main theoretical developments and properties of the…
In this work, we will investigate the question of optimal control for bilinear systems with constrained endpoint. The optimal control will be characterized through a set of unconstrained minimization problems that approximate the former.…
Time scale separation is a natural property of many control systems that can be ex- ploited, theoretically and numerically. We present a numerical scheme to solve optimal control problems with considerable time scale separation that is…
Communication and cooperation among team members can be enhanced significantly with physical interaction. Successful collaboration requires the integration of the individual partners' intentions into a shared action plan, which may involve…
Controlling a dynamical system is the ability of changing its configuration arbitrarily through a suitable choice of inputs. It is a very well studied concept in control theory, with wide ranging applications in medicine, biology, social…
We consider a control problem where the system is driven by a decoupled as well as a coupled forward-backward stochastic differential equation. We prove the existence of an optimal control in the class of relaxed controls, which are…
Existing approaches to direct robot-to-human handovers are typically implemented on fixed-base robot arms, or on mobile manipulators that come to a full stop before performing the handover. We propose "on-the-go" handovers which permit a…
This paper is concerned with a discounted optimal control problem of partially observed forward-backward stochastic systems with jumps on infinite horizon. The control domain is convex and a kind of infinite horizon observation equation is…
This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion-force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of…