Related papers: Hands-Off Control as Green Control
Grasping an unknown object is difficult for robot hands. When the characteristics of the object are unknown, knowing how to plan the speed at and width to which the fingers are narrowed is difficult. In this paper, we propose a method to…
In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the…
Predictive Feedback Control is an easy-to-implement method to stabilize unknown unstable periodic orbits in chaotic dynamical systems. Predictive Feedback Control is severely limited because asymptotic convergence speed decreases with…
A new class of cost functionals for optimal control of quantum systems which produces controls which are sparse in frequency and smooth in time is proposed. This is achieved by penalizing a suitable time-frequency representation of the…
This article addresses the problem of controlling the speed of a number of automated vehicles before they enter a speed reduction zone on a freeway. We formulate the control problem and provide an analytical, closed-form solution that can…
Continuous monitoring and real-time control of high-dimensional distributed systems are often crucial in applications to ensure a desired physical behavior, without degrading stability and system performances. Traditional feedback control…
This paper proposes an algorithmic technique for a class of optimal control problems where it is easy to compute a pointwise minimizer of the Hamiltonian associated with every applied control. The algorithm operates in the space of relaxed…
Passivity-based control is a cornerstone of control theory and an established design approach in robotics. Its strength is based on the passivity theorem, which provides a powerful interconnection framework for robotics. However, the design…
In this paper, the problem of output feedback sliding mode control of linear sampled-data multi-input multi-output systems is considered. Existing sliding mode control schemes can attenuate the influence of an external disturbance by…
We present here a new approach of the partial control method, which is a useful control technique applied to transient chaotic dynamics affected by a bounded noise. Usually we want to avoid the escape of these chaotic transients outside a…
This paper introduces a systematic method for designing robust linear controllers using output feedback in the presence of operational constraints. The design uses Nagumo's Theorem and the Comparison Lemma to guarantee constraint…
An adaptive controller with bounded l2-gain from disturbances to errors is derived for linear time-invariant systems with uncertain parameters restricted to a finite set. The gain bound refers to the closed loop system, including the…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
This paper develops a mathematical framework that aims to control the temperature and rotational speed in the activation process of a gas turbine in an optimal way. These controls influence the deformation and the stress in the component…
Model predictive control (MPC) is an optimal control strategy where control input calculation is based on minimizing the predicted tracking error over a finite horizon that moves with time. This strategy has an advantage over conventional…
An optimal control problem with a time-parameter is considered. The functional to be optimized includes the maximum over time-horizon reached by a function of the state variable, and so an $L^\infty$-term. In addition to the classical…
We give the solution to the minimum-energy control problem for linear stochastic systems. The problem is as follows: given an exactly controllable system, find the control process with the minimum expected energy that transfers the system…
This brief proposes a quasi time-fuel optimal control strategy to solve the dynamic tracking problem of unmanned systems when fuel and control input are limited. This kind of motion planning and control strategy could bring the biggest…
This paper presents an explicit solution to decentralized control of a class of spatially invariant systems. The problem of optimal $H_2$ decentralized control for cone causal systems is formulated. Using Parseval's identity, the optimal…
A moderation incentive is a continuously differentiable control-dependent cost term that is identically zero on the boundary of the admissible control region, and is subtracted from the `do or die' cost function to reward sub-maximal…