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Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded…
The main objective of this paper is to improve the Round Robin scheduling algorithm using the dynamic time slice concept. CPU scheduling becomes very important in accomplishing the operating system (OS) design goals. The intention should be…
Mechanistic models in biology often involve numerous parameters about which we do not have direct experimental information. The traditional approach is to fit these parameters using extensive numerical simulations (e.g. by the Monte-Carlo…
This paper is devoted to the distributed continuous-time optimization problem with time-varying objective functions and time-varying nonlinear inequality constraints. Different from most studied distributed optimization problems with…
This paper deals with design of maximum hands-off hybrid control sequences for discrete-time switched linear systems. It is a sparsest combination of a discrete control sequence (i.e. the switching sequence) and a continuous control…
This article investigates the problem of controlling linear time-invariant systems subject to time-varying and a priori unknown cost functions, state and input constraints, and exogenous disturbances. We combine the online convex…
Real-time control systems often require dedicated hardware and software, including real-time operating systems, while many systems are available for off-line computing, mainly based on standard system units (PCs), standard network…
This paper focuses on optimal control problem for a class of discrete-time nonlinear systems. In practical applications, computation time is a crucial consideration when solving nonlinear optimal control problems, especially under real-time…
This work presents three computational methods for real time energy management in a hybrid hydraulic vehicle (HHV) when driver behavior and vehicle route are not known in advance. These methods, implemented in a receding horizon 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…
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 deals with time-optimal control of nonlinear continuous-time systems based on direct collocation. The underlying discretization grid is variable in time, as the time intervals are subject to optimization. This technique differs…
Model predictive control (MPC) of hybrid dynamical systems is challenging because the associated optimization problem is nonsmooth and the resulting feedback law is discontinuous. This paper develops real-time MPC algorithms for nonlinear…
In this paper, we present an efficient Dynamic Programing framework for optimal planning and control of legged robots. First we formulate this problem as an optimal control problem for switched systems. Then we propose a multi--level…
Most dynamic simulation tools parameterize the configuration of multi-body robotic systems using minimal coordinates, also called generalized or joint coordinates. However, maximal-coordinate approaches have several advantages over…
This paper concerns two algorithms for solving optimal control problems with hybrid systems. The first algorithm aims at hybrid systems exhibiting sliding modes. The first algorithm has several features which distinguishes it from the other…
The paper describes a receding horizon control design framework for continuous-time stochastic nonlinear systems subject to probabilistic state constraints. The intention is to derive solutions that are implementable in real-time on…
This paper presents a Differential Dynamic Programming (DDP) framework for trajectory optimization (TO) of hybrid systems with state-based switching. The proposed Hybrid Systems DDP (HS-DDP) approach is considered for application to…
We introduce a new closed-loop architecture for the online solution of approximate optimal control problems in the context of continuous-time systems. Specifically, we introduce the first algorithm that incorporates dynamic momentum in…
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact…