Related papers: Optimal attitude control with two rotation axes
We study a time minimization problem on the group of motions of a plane with admissible control in a half-disk. The considered control system describes a model of a car that can move forward on a plane and turn in place. Optimal…
This paper develops a planner to find an optimal assembly sequence to assemble several objects. The input to the planner is the mesh models of the objects, the relative poses between the objects in the assembly, and the final pose of the…
We consider a bilinear optimal control for an evolution equation involving the fractional Laplace operator of order $0<s<1$. We first give some existence and uniqueness results for the considered evolution equation. Next, we establish some…
Optimal actuator design for a vibration control problem is calculated. The actuator shape is optimized according to the closed-loop performance of the resulting linear-quadratic regulator and a penalty on the actuator size. The optimal…
We propose an optimal control framework for persistent monitoring problems where the objective is to control the movement of mobile nodes to minimize an uncertainty metric in a given mission space. For multi agent in a one-dimensional…
The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…
The paper is concerned with an optimal control problem governed by the rate-independent system of quasi-static perfect elasto-plasticity. The objective is optimize the displacement field in the domain occupied by the body by means of…
An optimal control problem for longitudinal motions of a thin elastic rod is considered. We suppose that a normal force, which changes piecewise constantly along the rod's length, is applied to the cross-section so that the positions of…
Optimal control problems without control costs in general do not possess solutions due to the lack of coercivity. However, unilateral constraints together with the assumption of existence of strictly positive solutions of a pre-adjoint…
We consider the problem of carrying an initial Bloch vector to a final Bloch vector in a specified amount of time under the action of three control fields (a vector control field). We show that this control problem is solvable and therefore…
In this paper, we improve upon a method for optimal control of quadrupedal robots which utilizes a full-order model of the system. The original method utilizes offline nonlinear optimal control to synthesize a control scheme which…
We study the problem of rotating a simple polygon to contain the maximum number of elements from a given point set in the plane. We consider variations of this problem where the rotation center is a given point or lies on a line segment, a…
We consider the actuator placement problem for linear systems. Specifically, we aim to identify an actuator which requires the least amount of control energy to drive the system from an arbitrary initial condition to the origin in the worst…
This paper presents a convex optimization-based method for finding the globally optimal solutions of a class of mixed-integer non-convex optimal control problems. We consider problems that are non-convex in the input norm, which is a…
In this paper, we study some control problems that derive from time optimal control of coupled spin dynamics in NMR spectroscopy and quantum information and computation. Time optimal control helps to minimize relaxation losses. The ability…
The hand-eye measurements have recently been proven to be very efficient for spacecraft attitude determination relative to an ellipsoidal asteroid. However, recent method does not guarantee full attitude observability for all conditions.…
We discuss the problem of optimal impulse control representing the preventive maintenance of a simple reparable system. The system model is governed by coupled transport and integro-differential equations in a nonreflexive Banach space. The…
In many resource-limited optimal control problems, multiple constraints may be enforced that are jointly infeasible due to external factors such as subsystem failures, unexpected disturbances, or fuel limitations. In this manuscript, we…
This work considers the problem of approximating initial condition and time-dependent optimal control and trajectory surfaces using multivariable Fourier series. A modified Augmented Lagrangian algorithm for translating the optimal control…
In this paper, we present some properties of time optimal controls for linear ODEs with the ball-type control constraint. More precisely, for an optimal control, we build up an upper bound for the number of its switching points; show that…