Related papers: Set operations and order reductions for constraine…
In robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefore crucial for its deployment in practice. However, dealing…
Guaranteeing safe behavior on complex autonomous systems -- from cars to walking robots -- is challenging due to the inherently high dimensional nature of these systems and the corresponding complex models that may be difficult to determine…
Model predictive controllers use dynamics models to solve constrained optimal control problems. However, computational requirements for real-time control have limited their use to systems with low-dimensional models. Nevertheless,…
The simulation of electric rotating machines is both computationally expensive and memory intensive. To overcome these costs, model order reduction techniques can be applied. The focus of this contribution is especially on machines that…
A formalism for the study of highly interacting electronic systems is presented. The proposed scheme is based on two key concepts: composite operators and algebra constraints. Composite field operators, that naturally appear as a…
A novel set-theoretical approach to hands-off control is proposed, focusing on spatial arguments for command limitation rather than temporal ones. By employing dynamical feedback alongside invariant set-based constraints, actuation is…
In this paper we investigate the interplay between isolated suborders and closures. Isolated suborders are a special kind of suborders and can be used to diminish the number of elements of an ordered set by means of a quotient construction.…
Artificial neural networks have recently been utilized in many feedback control systems and introduced new challenges regarding the safety of such systems. This paper considers the safe verification problem for a dynamical system with a…
This chapter investigates how symmetries can be used to reduce the computational complexity in polynomial optimization problems. A focus will be specifically given on the Moment-SOS hierarchy in polynomial optimization, where results from…
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
A high order optimal control strategy implemented in the Koopman operator framework is proposed in this work. The new technique exploits the Koopman representation of the solution of the equations of motion to develop an energy optimal…
In this paper, we generalize the chance optimization problems and introduce constrained volume optimization where enables us to obtain convex formulation for challenging problems in systems and control. We show that many different problems…
The notions of upper and lower exhausters are effective tools for the study of non smooth functions. There are many studies presenting optimality conditions for unconstrained and constrained cases. One can observe that optimality conditions…
Soft sets, as a mathematical tool for dealing with uncertainty, have recently gained considerable attention, including some successful applications in information processing, decision, demand analysis, and forecasting. To construct new soft…
Recent developments in set optimization are surveyed and extended including various set relations as well as fundamental constructions of a convex analysis for set- and vector-valued functions, and duality for set optimization problems.…
This paper investigates the design of reduced-order observers for robotic manipulators. Observer stability conditions are obtained based on a Lyapunov analysis and the proposed observer is enhanced with a hybrid scheme that may adjust the…
The method of constrained Hamiltonian systems can be used to reduce Fock modules. It is applied to the Virasoro algebra, where a possibly new realization is found.
On a manifold or a closed subset of a Euclidean vector space, a retraction enables to move in the direction of a tangent vector while staying on the set. Retractions are a versatile tool to perform computational tasks such as optimization,…
This article presents proposals for the design of reduced-order controllers for high-dimensional dynamical systems. The objective is to develop efficient control strategies that ensure stability and robustness with reduced computational…
In this paper, we present a geometric approach for computing controlled invariant sets for hybrid control systems. While the problem is well studied in the ellipsoidal case, this family is quite conservative for constrained or switched…