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We address the problem of sparsity-promoting optimal control of cyber-physical systems (CPSs) in the presence of communication delays. The delays are categorized into two types - namely, an inter-layer delay for passing state and control…
We consider the class of nonlinear optimal control problems (OCP) with polynomial data, i.e., the differential equation, state and control con- straints and cost are all described by polynomials, and more generally for OCPs with smooth…
The paper is devoted to introducing an approach to compute the approximate minimum time function of control problems which is based on reachable set approximation and uses arithmetic operations for convex compact sets. In particular, in…
This paper considers the stochastic linear quadratic optimal control problem in which the control domain is nonconvex. By the functional analysis and convex perturbation methods, we establish a novel maximum principle. The application of…
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…
One of the main challenges of planning legged locomotion in complex environments is the combinatorial contact selection problem. Recent contributions propose to use integer variables to represent which contact surface is selected, and then…
We introduce a "one shot" random access procedure where users can send a message without a priori synchronizing with the network. In this procedure a common overloaded control channel is used to jointly detect sparse user activity and…
In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which are observed in a variety of manipulation tasks, such as…
This paper presents a novel synthesis method for designing an optimal and robust guidance law for a non-throttleable upper stage of a launch vehicle, using a convex approach. In the unperturbed scenario, a combination of lossless and…
The selection of nodes that can serve as cluster heads, local sinks and gateways is a critical challenge in distributed sensor and communication networks. This paper presents a novel framework for identifying a minimal set of nexus nodes to…
We consider the problem of optimally steering the state covariance matrix of a discrete-time linear stochastic system to a desired terminal covariance matrix, while inducing the control input to be zero over many time intervals. We propose…
A solid system consisting of two heat conducting cylinders with a thermoelectric converter (Peltier element) between them is considered. A nonlinear model, which was previously verified by authors, is used to design a constrained control…
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…
The study is devoted to mathematical modeling and optimal control design of longitudinal motions of a rectilinear elastic rod. The control inputs are a force, which is normal to the cross section and distributed piecewise constantly along…
In this paper we study the optimal control of a parabolic initial-boundary value problem of viscous Cahn-Hilliard type with zero Neumann boundary conditions. Phase field systems of this type govern the evolution of diffusive phase…
In this article we study the minimal time for the exact controllability of one-dimensional first-order linear hyperbolic systems when all the controls are acting on the same side of the boundary. We establish an explicit and easy-to-compute…
We provide a control-theoretic perspective on optimal tensor algorithms for minimizing a convex function in a finite-dimensional Euclidean space. Given a function $\Phi: \mathbb{R}^d \rightarrow \mathbb{R}$ that is convex and twice…
We study the stochastic Landau-Lifshitz-Bloch equation perturbed by pure jump noise. In order to understand and also control the fluctuations and jumps observed in the hysteresis loop, we add noise and an external control to the effective…
Robust control seeks stabilizing policies that perform reliably under adversarial disturbances, with $\mathcal{H}_\infty$ control as a classical formulation. It is known that policy optimization of robust $\mathcal{H}_\infty$ control…
Controlling output length in neural language generation is valuable in many scenarios, especially for the tasks that have length constraints. A model with stronger length control capacity can produce sentences with more specific length,…