相关论文: Time Optimal Attitude Control for a Rigid Body

For the task of moving a set of indistinguishable agents on a connected graph with unit edge distance to an arbitrary set of goal vertices, free of collisions, we propose a fast distance optimal control algorithm that guides the agents into…

This paper devotes to the development of an optimal acceleration/speed profile for autonomous vehicles approaching a traffic light. The design objective is to achieve both short travel time and low energy consumption as well as avoid idling…

In this work we study the asymptotic behavior of the solutions of a class of abstract parabolic time optimal control problems when the generators converge, in an appropriate sense, to a given strictly negative operator. Our main application…

This paper studies the integrated position and attitude control problem for multi-agent systems of 3D rigid bodies. While the state-of-the-art method in [Olfati-Saber and Murray, 2004] established the theoretical foundation for rigid-body…

Convex model predictive controls (MPCs) with a single rigid body model have demonstrated strong performance on real legged robots. However, convex MPCs are limited by their assumptions such as small rotation angle and pre-defined gait,…

In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…

We present a numerically tractable formulation for computing the optimal control of the class of hybrid dynamical systems whose trajectories are continuous. Our formulation, an extension of existing relaxed-control techniques for switched…

A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…

Obesity is a chronic disease that can lead to an increased risk of other serious chronic diseases and even death. We present switching and time-delayed feedback-based model free control methods for the dynamic management of body mass and…

The paper is concerned with an optimal control problem governed by the rate-independent system of quasi-static perfect elasto-plasticity. The objective is to optimize the stress field by controlling the displacement at prescribed parts of…

This work is concerned with the time optimal control problem for evolution equations in Hilbert spaces. The attention is focused on the maximum principle for the time optimal controllers having the dimension smaller that of the state…

In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost functional, given initial and final conditions where the…

Autonomous navigation has recently gained great interest in the field of reinforcement learning. However, little attention was given to the time optimal velocity control problem, i.e. controlling a vehicle such that it travels at the…

Simulation of contact and friction dynamics is an important basis for control- and learning-based algorithms. However, the numerical difficulties of contact interactions pose a challenge for robust and efficient simulators. A…

This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…

A geometric approach to time-dependent optimal control problems is proposed. This formulation is based on the Skinner and Rusk formalism for Lagrangian and Hamiltonian systems. The corresponding unified formalism developed for optimal…

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,…

The topological obstructions on the attitude space of a rigid body make global asymptotic stabilization impossible using continuous state-feedback. This paper presents novel algorithms to overcome such topological limitations and achieve…

Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…

This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…