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It is well known that highly volatile control laws, while theoretically optimal for certain systems, are undesirable from an engineering perspective, being generally deleterious to the controlled system. In this article we are concerned…
In this work, we revisit the Linear Quadratic Gaussian (LQG) optimal control problem from a behavioral perspective. Motivated by the suitability of behavioral models for data-driven control, we begin with a reformulation of the LQG problem…
The present work addresses a finite-horizon linear-quadratic optimal control problem for uncertain systems driven by piecewise constant controls. The precise values of the system parameters are unknown, but assumed to belong to a finite set…
An optimal control problem on finite-dimensional positive cones is stated. Under a critical assumption on the cone, the corresponding Bellman equation is satisfied by a linear function, which can be computed by convex optimization. A…
In this paper we consider a constrained parabolic optimal control problem. The cost functional is quadratic and it combines the distance of the trajectory of the system from the desired evolution profile together with the cost of a control.…
In this paper A Geometrical Design Method for Blade's surface $\Im$ in the impeller is provided here $\Im$ is a solution to a coupling system consisting of the well-known Navier-Stokes equations and a four order elliptic boundary value…
We consider the optimal control problem for null curves in de Sitter 3-space defined by a functional which is linear in the curvature of the trajectory. We show how techniques based on the method of moving frames and exterior differential…
Euler proved that every rotation of a 3-dimensional body can be realized as a sequence of three rotations around two given axes. If we allow sequences of an arbitrary length, such a decomposition will not be unique. In this paper we solve…
In this paper, we consider the inverse optimal control problem for the discrete-time linear quadratic regulator, over finite-time horizons. Given observations of the optimal trajectories, and optimal control inputs, to a linear…
Optimal control is a successful approach to generate motions for complex robots, in particular for legged locomotion. However, these techniques are often too slow to run in real time for model predictive control or one needs to drastically…
We consider linear feedback control of the two-dimensional flow past a cylinder at low Reynolds numbers, with a particular focus on the optimal placement of a single sensor and a single actuator. To accommodate the high dimensionality of…
This paper proposes a low order geometrically exact flexible beam formulation based on the utilisation of generic beam shape functions to approximate distributed kinematic properties of the deformed structure. The proposed nonlinear beam…
Optimal control theory is usually formulated as an indirect method requiring the solution of a two-point boundary value problem. Practically, the solution is obtained by iterative forward and backward propagation of quantum wavepackets.…
We investigate energy-optimal control of robots with ultracapacitor based regenerative drive systems. Based on a previously introduced framework, a fairly generic model is considered for the robot and the drive system. An optimal control…
This paper describes the design of a linear quadratic gaussian (LQG) for trajectory tracking control of UAV Bicopter. In this work, disturbance in the form of payload significantly affects the trajectory tracking control process on the UAV…
In this paper, we solve the long-standing fundamental problem of irregular linear--quadratic (LQ) optimal control, which has received significant attention since the 1960s. We derive the optimal controllers via the key technique of finding…
Necessary optimality conditions and numerical methods for solving an optimal control problem for a linear continuous-time dynanical system with controlled coefficients and quadratic goal functional are discussed.
Described is a device acting on an acoustically levitated object by manipulating the pressure and flow of a thin layer of air such that its rotation can be precisely controlled without mechanical contact. Virtual work analysis assists in…
In many mechatronic applications, controller input costs are negligible and time optimality is of great importance to maximize the productivity by executing fast positioning maneuvers. As a result, the obtained control input has mostly a…
We introduce the tensor numerical method for solving optimal control problems that are constrained by fractional 2D and 3D elliptic operators with variable coefficients. We solve the governing equation for the control function which…