Related papers: Multi-goal-oriented anisotropic error control and …
To reduce the contour error of the end-effector of a robotic manipulator during trajectory tracking, a dual-mode synchronization predictive control is proposed. Firstly, the dynamic model of n-DoF robotic manipulator is discretized by using…
This paper studies the distributed dual objective control problem of a heterogenous flywheel energy storage matrix system aiming at simultaneous reference power track-ing and state-of-energy balancing. We first prove that the solution to…
The numerical simulation of complex physical processes requires the use of economical discrete models. This lecture presents a general paradigm of deriving a posteriori error estimates for the Galerkin finite element approximation of…
We develop a new, efficient, and accurate method to simulate frequency-domain borehole electromagnetic (EM) measurements acquired in the presence of three-dimensional (3D) variations of the anisotropic subsurface conductivity. The method is…
We propose energy-conserving discontinuous Galerkin (DG) methods for symmetric linear hyperbolic systems on general unstructured meshes. Optimal a priori error estimates of order $k+1$ are obtained for the semi-discrete scheme in one…
Randomized iterative methods have gained recent interest in machine learning and signal processing for solving large-scale linear systems. One such example is the randomized Douglas-Rachford (RDR) method, which updates the iterate by…
This paper presents a multi-scale method for convection-dominated diffusion problems in the regime of large P\'eclet numbers. The application of the solution operator to piecewise constant right-hand sides on some arbitrary coarse mesh…
We introduce a novel data-driven method to mitigate the risk of cascading failures in delayed discrete-time Linear Time-Invariant (LTI) systems. Our approach involves formulating a distributionally robust finite-horizon optimal control…
In this work, we present an algorithmically tractable safe approximation of distributionally robust optimization (DRO) problems that contain univariate indicator functions. The latter appear in different applications, but render the model…
In this work, we analyze Parametrized Advection-Dominated distributed Optimal Control Problems with random inputs in a Reduced Order Model (ROM) context. All the simulations are initially based on a finite element method (FEM)…
Diffusion policies have recently emerged as a powerful class of visuomotor controllers for robot manipulation, offering stable training and expressive multi-modal action modeling. However, existing approaches typically treat action…
We study the convergence of the adaptive Douglas--Rachford (aDR) algorithm for solving a multioperator inclusion problem involving the sum of maximally comonotone operators. To address such problems, we adopt a product space reformulation…
This paper presents high order accurate discontinuous Galerkin (DG) methods for wave problems on moving curved meshes with general choices of basis and quadrature. The proposed method adopts an arbitrary Lagrangian-Eulerian (ALE)…
This paper interprets the stabilized finite element method via residual minimization as a variational multiscale method. We approximate the solution to the partial differential equations using two discrete spaces that we build on a…
For optimal control problems that involve planning and following a trajectory, two degree of freedom (2DOF) controllers are a ubiquitously used control architecture that decomposes the problem into a trajectory generation layer and a…
This paper is concerned with goal-oriented a posteriori error estimation for nonlinear functionals in the context of nonlinear variational problems solved with continuous Galerkin finite element discretizations. A two-level, or discrete,…
In this paper, we tackle the task of adaptive time allocation in integrated sensing and communication systems equipped with radar and communication units. The dual-functional radar-communication system's task involves allocating dwell times…
The Douglas-Rachford (DR) method is a widely used method for finding a point in the intersection of two closed convex sets (feasibility problem). However, the method converges weakly and the associated rate of convergence is hard to analyze…
Port-Hamiltonian systems provide a highly-structured framework for modeling of physical systems. By definition, they encode a balance equation relating energy changes to supplied and dissipated energy. Capturing this energy balance in…
In this paper a framework for solving the time optimal control (TOC) using Galerkin's Weighted Residuals Method (GWRM) and Sequential Convex Programming (SCP) is proposed. The proposed method solves the two-point boundary value problem,…