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In this paper, we introduce a decentralized optimization-based density controller designed to enforce set invariance constraints in multi-robot systems. By designing a decentralized control barrier function, we derived sufficient conditions…
We present necessary and sufficient optimality conditions for finite time optimal control problems for a class of hybrid systems described by linear complementarity models. Although these optimal control problems are difficult in general…
We are concerned with the simulation and optimization of large-scale gas pipeline systems in an error-controlled environment. The gas flow dynamics is locally approximated by sufficiently accurate physical models taken from a hierarchy of…
Finite-dimensional dissipative dynamical systems with multiple time-scales are obtained when modeling chemical reaction kinetics with ordinary differential equations. Such stiff systems are computationally hard to solve and therefore,…
This work presents a 5D concept to optimizing non-Newtonian fluid flows through a simplified Carreau flow model. We solve the optimization problem by approximating the solution of the KKT System with fully space-time finite element methods…
The objective of this work is to study time-minimum and energy-minimum global optimal control for dissipative open quantum systems whose dynamics is governed by the Lindblad equation. The controls appear only in the Hamiltonian. Using…
Ultra-cold atomic gases are unique in terms of the degree of controllability, both for internal and external degrees of freedom. This makes it possible to use them for the study of complex quantum many-body phenomena. However in many…
We provide a technique to obtain provably optimal control sequences for quantum systems under the influence of time-correlated multiplicative control noise. Utilizing the circuit-level noise model introduced in [Phys. Rev. Research 3,…
The optimization of fuel-optimal low-thrust collision avoidance maneuvers (CAMs) in scenarios involving multiple encounters between spacecraft is addressed. The optimization's objective is the minimization of the total fuel consumption…
We introduce Fireshape, an open-source and automated shape optimization toolbox for the finite element software Firedrake. Fireshape is based on the moving mesh method and allows users with minimal shape optimization knowledge to tackle…
This paper presents a method to verify closed-loop properties of optimization-based controllers for deterministic and stochastic constrained polynomial discrete-time dynamical systems. The closed-loop properties amenable to the proposed…
The Tokamak device is the most promising candidate for producing sustainable electric power by nuclear fusion. It is a torus-shaped device that confines plasma by a strong magnetic field. The development, design and control of the design…
We propose a new approach to solve optimal stopping problems via simulation. Working within the backward dynamic programming/Snell envelope framework, we augment the methodology of Longstaff-Schwartz that focuses on approximating the…
The paper is devoted to the study of a new class of optimal control problems for nonsmooth dynamical systems governed by nonconvex discontinuous differential inclusions of the sweeping type with involving variable time into optimization. We…
This study explores an energy-efficient control strategy for spacecraft inspection using a fuzzy inference system combined with a bio-inspired optimization technique to incorporate learning capability into the control process. The optimized…
This paper addresses the optimal control problem of finite-horizon discrete-time nonlinear systems under state and control constraints. A novel numerical algorithm based on optimal control theory is proposed to achieve superior…
A time optimal attitude control problem is studied for the dynamics of a rigid body. The objective is to minimize the time to rotate the rigid body to a desired attitude and angular velocity while subject to constraints on the control…
Robust quantum control is crucial for realizing practical quantum technologies. Energy landscape shaping offers an alternative to conventional dynamic control, providing theoretically enhanced robustness and simplifying implementation for…
We propose a method to interactively control the animation of fluid elements in still images to generate cinemagraphs. Specifically, we focus on the animation of fluid elements like water, smoke, fire, which have the properties of repeating…
Correlated with the trend of increasing degrees of freedom in robotic systems is a similar trend of rising interest in Spatio-Temporal systems described by Partial Differential Equations (PDEs) among the robotics and control communities.…