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We derive optimal periodic controls for entrainment of a self-driven oscillator to a desired frequency. The alternative objectives of minimizing power and maximizing frequency range of entrainment are considered. A state space…
In this paper, an adaptive backstepping controller has been tuned to synchronize two chaotic Colpitts oscillators in a master slave configuration. The parameters of the controller are determined using shark smell optimization (SSO)…
This paper presents the design a Proportional-Integral-Derivative (PID) controller with optimized parameters for a two-degree-of-freedom robotic arm. A genetic algorithm (GA) is proposed to optimize the controller parameters, addressing the…
This paper presents a novel approach to improve the Model Predictive Path Integral (MPPI) control by using a transformer to initialize the mean control sequence. Traditional MPPI methods often struggle with sample efficiency and…
For the cascaded planning and control modules implemented for robot navigation, the frequency gap between the planner and controller has received limited attention. In this study, we introduce a novel B-spline parameterized…
Speed responses of motors, especially Permanent Magnet Synchronous Motors (PMSMs), are increasing in importance for recent applications, such as electric vehicles or quadrotors. These applications require quick acceleration performance.…
Formulating the intended behavior of a dynamic system can be challenging. Signal temporal logic (STL) is frequently used for this purpose due to its suitability in formalizing comprehensible, modular, and versatile spatiotemporal…
We introduce a numerical technique for controlling the location and stability properties of Hopf bifurcations in dynamical systems. The algorithm consists of solving an optimization problem constrained by an extended system of nonlinear…
We consider optimal control of the scalar wave equation where the control enters as a coefficient in the principal part. Adding a total variation penalty allows showing existence of optimal controls, which requires continuity results for…
The dynamic response of power grids to small events or persistent stochastic disturbances influences their stable operation. Low-frequency inter-area oscillations are of particular concern due to insufficient damping. This paper studies the…
This paper examines stochastic optimal control problems in which the state is perfectly known, but the controller's measure of time is a stochastic process derived from a strictly increasing L\'evy process. We provide dynamic programming…
This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into…
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…
Inspired by recent work of P.-L. Lions on conditional optimal control, we introduce a problem of optimal stopping under bounded rationality: the objective is the expected payoff at the time of stopping, conditioned on another event. For…
In this paper, we first introduce a new spatial-temporal interaction operator to describe the space-time dependent phenomena. Then we consider the stochastic optimal control of a new system governed by a stochastic partial differential…
Optimal entrainment of a quantum nonlinear oscillator to a periodically modulated weak harmonic drive is studied in the semiclassical regime. By using the semiclassical phase reduction theory recently developed for quantum nonlinear…
By transforming identification and control for nonlinear system into optimization problems, a novel optimization method named state transition algorithm (STA) is introduced to solve the problems. In the proposed STA, a solution to a…
This paper focuses on optimization problems constrained by Parametric Variational Inequalities (PVI) defined on a moving set. Unlike most existing works on mathematical programs with equilibrium constraints, the equilibrium constraints have…
This article presents the design and real-time implementation of an optimal controller for precise steering control of a remotely operated underwater vehicle (ROV). A PI controller is investigated to achieve the desired steering…
The paper deals with an optimal control problem in a dynamical system described by a linear differential equation with the Caputo fractional derivative. The goal of control is to minimize a Bolza-type cost functional, which consists of two…