Related papers: Full-order optimal compensators for flow control: …

In this paper we design a novel class of online distributed optimization algorithms leveraging control theoretical techniques. We start by focusing on quadratic costs, and assuming to know an internal model of their variation. In this…

Collisions are common in many dynamical systems with real applications. They can be formulated as hybrid dynamical systems with discontinuities automatically triggered when states transverse certain manifolds. We present an algorithm for…

This paper proposes a robust control design method using reinforcement-learning for controlling partially-unknown dynamical systems under uncertain conditions. The method extends the optimal reinforcement-learning algorithm with a new…

Though switched dynamical systems have shown great utility in modeling a variety of physical phenomena, the construction of an optimal control of such systems has proven difficult since it demands some type of optimal mode scheduling. In…

Algorithmic differentiation (AD) has become increasingly capable and straightforward to use. However, AD is inefficient when applied directly to solvers, a feature of most engineering analyses. We can leverage implicit differentiation to…

We formulate the optimal flow problem in a multi-area integrated electrical and gas system as a mixed-integer optimization problem by approximating the non-linear gas flows with piece-wise affine functions, thus resulting in a set of…

In feedback flow control, one of the challenges is to develop mathematical models that describe the fluid physics relevant to the task at hand, while neglecting irrelevant details of the flow in order to remain computationally tractable. A…

This paper formulates an optimal control problem for a system of rigid bodies that are connected by ball joints and immersed in an irrotational and incompressible fluid. The rigid bodies can translate and rotate in three-dimensional space,…

Conventional affine formation control (AFC) empowers a network of agents with flexible but collective motions - a potential which has not yet been exploited for large-scale swarms. One of the key bottlenecks lies in the design of an…

We formulate a mathematical framework for designing a self-tuning network control architecture, and propose a computationally-feasible greedy algorithm for online architecture optimization. In this setting, the locations of active sensors…

This paper studies efficient distributed optimization methods for multi-agent networks. Specifically, we consider a convex optimization problem with a globally coupled linear equality constraint and local polyhedra constraints, and develop…

Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures,…

The problem of steering a particular class of $n$-dimensional continuous-time dynamical systems towards the minima of a function without gradient information is considered. We propose an hybrid controller, implementing a discrete-time…

Optimal power flow (OPF) is a key tool for planning and operations in energy grids. The line-flow constraints, generator loading effect, piece-wise cost functions, emission, and voltage quality cost make the optimization model non-convex…

Throughput is a main performance objective in communication networks. This paper considers a fundamental maximum throughput routing problem -- the all-or-nothing multicommodity flow (ANF) problem -- in arbitrary directed graphs and in the…

A flow control system is a critical concept for increasing the production capacity of manufacturing systems. To solve the scheduling optimization problem related to the flow control with the aim of improving productivity, existing methods…

Constraint automata (CA) constitute a coordination model based on finite automata on infinite words. Originally introduced for modeling of coordinators, an interesting new application of CAs is implementing coordinators (i.e., compiling CAs…

A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…

This paper describes the reachable set and resolves an optimal control problem for the scalar conservation laws with discontinuous flux. We give a necessary and sufficient criteria for the reachable set. A new backward resolution has been…

This paper investigates the optimal resource allocation of a downlink non-orthogonal multiple access (NOMA) system consisting of one base station and multiple users. Unlike existing short-term NOMA designs that focused on the resource…