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Robots must satisfy safety-critical state and input constraints despite disturbances and model mismatch. We introduce a robust model predictive control (RMPC) formulation that is fast, scalable, and compatible with real-time implementation.…
The present work focuses on the numerical approximation of the weak solutions of the shallow water model over a non-flat topography. In particular, we pay close attention to steady solutions with nonzero velocity. The goal of this work is…
An alternative numerical method is developed to find stable and unstable periodic orbits of nonlinear dynamical systems. The method exploits the high-efficiency of the Levenberg-Marquardt algorithm for medium-sized problems and has the…
The stochastic heavy ball momentum (SHBM) method has gained considerable popularity as a scalable approach for solving large-scale optimization problems. However, one limitation of this method is its reliance on prior knowledge of certain…
In this paper we consider the computation of approximate solutions for inverse problems in Hilbert spaces. In order to capture the special feature of solutions, non-smooth convex functions are introduced as penalty terms. By exploiting the…
For the first time, a fully-coupled Harmonic Balance method is developed for the forced response of turbomachinery blades. The method is applied to a state-of-the-art model of a turbine bladed disk with interlocked shrouds subjected to…
Reachable set computation is an important tool for analyzing control systems. Simulating a control system can show general trends, but a formal tool like reachability analysis can provide guarantees of correctness. Reachability analysis for…
We consider the problem of finding a sparse solution for an underdetermined linear system of equations when the known parameters on both sides of the system are subject to perturbation. This problem is particularly relevant to…
This paper introduces a generalization of the well-known Riccati recursion for solving the discrete-time equality-constrained linear quadratic optimal control problem. The recursion can be used to compute the solutions as well as optimal…
We present a new technique for constructing solutions of quasilinear systems of first-order partial differential equations, in particular inhomogeneous ones. A generalization of the Riemann invariants method to the case of inhomogeneous…
The problem of reconstructing nonlinear and complex dynamical systems from measured data or time series is central to many scientific disciplines including physical, biological, computer, and social sciences, as well as engineering and…
We introduce a new, resummed, analytical form of the post-Newtonian (PN), factorized, multipolar amplitude corrections $f_{\ell m}$ of the effective-one-body (EOB) gravitational waveform of spinning, nonprecessing, circularized, coalescing…
This paper investigates two inexact Levenberg-Marquardt (LM) methods for solving systems of nonlinear equations. Both approaches compute approximate search directions by solving the LM linear system inexactly, subject to specific…
This paper applies the Recursive Projection Method (RPM) to the problem of finding the effective mechanical response of a periodic heterogeneous solid. Previous works apply the Fast Fourier Transform (FFT) in combination with various…
This paper proposes a finitely terminating algorithm to solve reach-and-stay control problems for nonlinear systems. The algorithm is guaranteed to return a control strategy if the specification is robustly realizable. Such a feature is…
An averaging method for getting uniformly valid asymptotic approximations of the solution of hyperbolic systems of equations is presented. The averaged system of equations disintegrates into independent equations for non-resonance systems.…
Stabilization of a class of time-varying parabolic equations with uncertain input data using Receding Horizon Control (RHC) is investigated. The diffusion coefficient and the initial function are prescribed as random fields. We consider…
Quasiperiodic systems are important space-filling ordered structures, without decay and translational invariance. How to solve quasiperiodic systems accurately and efficiently is of great challenge. A useful approach, the projection method…
Accurately estimating parameters in complex nonlinear systems is crucial across scientific and engineering fields. We present a novel approach for parameter estimation using a neural network with the Huber loss function. This method taps…
A hybrid analytical method for solving linear and nonlinear fractional partial differential equations is presented. The proposed analytical method is an elegant combination of the Natural Transform Method (NTM) and a well-known method,…