Related papers: Sensitivity analysis and optimal control for a fri…
The existence of multiple irregular obstacles in the environment introduces nonconvex constraints into the optimization for motion planning, which makes the optimal control problem hard to handle. One efficient approach to address this…
Dynamic components of the friction may directly impact the stability and performance of the motion control systems. The LuGre model is a prevalent friction model utilized to express this dynamic behavior. Since the LuGre model is very…
Trading frictions are stochastic. They are, moreover, in many instances fast-mean reverting. Here, we study how to optimally trade in a market with stochastic price impact and study approximations to the resulting optimal control problem…
We consider a stochastic control problem where the set of controls is not necessarily convex and the system is governed by a nonlinear backward stochastic differential equation. We establish necessary as well as sufficient conditions of…
In optimal control,sensitivity relations are usually understood as inclusions that identify the pair formed by the dual arc and the Hamiltonian, evaluated along the associated minimizing trajectory, as a suitable generalized gradient of the…
In this paper we identify a set of two-dimensional variational inequalities that model the displacement of a linearly elastic flexural shell subjected to a confinement condition, expressing that all the points of the admissible deformed…
We study the dynamics of three particles in a finite interval, in which two light particles are separated by a heavy ``piston'', with elastic collisions between particles but inelastic collisions between the light particles and the interval…
The morphology of an elastic strip subject to vertical compressive stress on a frictional rigid substrate is investigated by a combination of theory and experiment. We find a rich variety of morphologies, which -when the bending elasticity…
In this article, we provide a novel and broadly-applicable contraction-theoretic approach to continuous-time time-varying convex optimization. For any parameter-dependent contracting dynamics, we show that the tracking error is…
We develop an efficient reduced basis method for the frictional contact problem formulated using Nitsche's method. We focus on the regime of small deformations and on Tresca friction. The key idea ensuring the computational efficiency of…
We propose an efficient way of solving optimal control problems for rigid-body systems on the basis of inverse dynamics and the multiple-shooting method. We treat all variables, including the state, acceleration, and control input torques,…
In this paper, we analyze the convergence and optimality of a standard adaptive nonconforming linear element method for the Stokes problem. After establishing a special quasi--orthogonality property for both the velocity and the pressure in…
We investigate the quasi-static growth of elastic fibers in the presence of dry or viscous friction. An unusual form of destabilization beyond a critical length is described. In order to characterize this phenomenon, a new definition of…
Accurate physical simulation is crucial for the development and validation of control algorithms in robotic systems. Recent works in Reinforcement Learning (RL) take notably advantage of extensive simulations to produce efficient robot…
This paper investigates the value function, $V$, of a Mayer optimal control problem with the state equation given by a differential inclusion. First, we obtain an invariance property for the proximal and Fr\'echet subdifferentials of $V$…
Contact problems with Coulomb friction in linear elasticity are notoriously difficult and their mathematical analysis is still largely incomplete. In this paper, a model problem with heterogeneous friction coefficient is considered in…
A class of exact penalty-type local search methods for optimal control problems with nonsmooth cost functional, nonsmooth (but continuous) dynamics, and nonsmooth state and control constraints is presented, in which the the penalty…
This paper studies a class of continuous-time scalar-state stochastic Linear-Quadratic (LQ) optimal control problem with the linear control constraints. Applying the state separation theorem induced from its special structure, we develop…
This paper presents a new approach to accurately simulating 3D overhead cranes with friction. Although nonlinear friction dynamics has a significant impact on these systems, accurately modeling this phenomenon in simulations is a…
A new energy functional for pure traction problems in elasticity has been deduced in [23] as the variational limit of nonlinear elastic energy functional for a material body subject to an equilibrated force field: a sort of Gamma limit with…