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We consider the constrained stabilization problem of second-order systems evolving on the n-sphere. We propose a control strategy with a constraint proximity-based dynamic damping mechanism that ensures safe and almost global asymptotic…
Because of its stability, the polarity of a magnetic vortex core (VC) is a candidate for binary data storage. Switching can be accomplished, e.g, by driving the VC above a critical velocity $v_c$. Here, we report on controlled and repeated…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
The paper addresses an optimal control problem for a perturbed sweeping process of the rate-independent hysteresis type described by a controlled "play and stop" operator with separately controlled perturbations. This problem can be reduced…
Spin manipulation by hopping has recently emerged as a promising strategy to control hole spins in quantum dots using exclusively baseband control, thereby mitigating power dissipation and high-frequency management constraints in…
This paper analyses a stochastic differential game of control and stopping in which one of the players modifies a diffusion process using impulse controls, an adversary then chooses a stopping time to end the game. The paper firstly…
This paper considers the problem of two-player zero-sum stochastic differential game with both players adopting impulse controls in finite horizon under rather weak assumptions on the cost functions ($c$ and $\chi$ not decreasing in time).…
In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole…
Desktop organization remains challenging for service robots because of heterogeneous objects and diverse manipulation objectives, such as collection and stacking. In this article, a task-oriented framework is presented for organizing planar…
This paper develops numerical methods for optimal control of mechanical systems in the Lagrangian setting. It extends the theory of discrete mechanics to enable the solutions of optimal control problems through the discretization of…
Recent investments in cislunar applications open new frontiers for space missions within highly nonlinear dynamical regimes. In this paper, we propose a method based on Sequential Convex Programming (SCP) to loiter around a given target…
Model Predictive Control (MPC) has proven to be a powerful tool for the control of systems with constraints. Nonetheless, in many applications, a major challenge arises, that is finding the optimal solution within a single sampling instant…
Control of chaotic systems to given targets is a subject of substantial and well-developed research issue in nonlinear science, which can be formulated as a class of multi-modal constrained numerical optimization problem with…
Trajectory optimization is a fundamental problem in robotics. While optimization of continuous control trajectories is well developed, many applications require both discrete and continuous, i.e., hybrid, controls. Finding an optimal…
This paper presents a flexible and modular control scheme based on distributed model predictive control (DMPC) to achieve optimal operation of decentralized energy systems in smart grids. The proposed approach is used to coordinate multiple…
In this paper, we consider the controlled rigid spacecraft with an internal rotor as a regular point reducible regular controlled Hamiltonian (RCH) system. In the cases of coincident and non-coincident centers of buoyancy and gravity, we…
Centered finite-difference discretizations of convection--diffusion equations may oscillate when convection dominates at the mesh scale. For homogeneous Dirichlet problems with constant coefficients on uniform Cartesian grids, we derive…
Manipulating deformable linear objects (DLOs) such as wires and cables is crucial in various applications like electronics assembly and medical surgeries. However, it faces challenges due to DLOs' infinite degrees of freedom, complex…
Following the recently developed algorithms for fully probabilistic control design for general dynamic stochastic systems [15], [18], this paper presents the solution to the probabilistic dual heuristic programming (DHP) adaptive critic…
This article develops variational integrators for a class of underactuated mechanical systems using the theory of discrete mechanics. Further, a discrete optimal control problem is formulated for the considered class of systems and…