相关论文: Duality and Network Theory in Passivity-based Coop…

The coupled problems of selecting control nodes and designing control actions for nonlinear network dynamics are fundamental scientific problems with applications in many diverse fields. These problems are thoroughly studied for linear…

This paper studies the problem of optimal flow control in dynamic inventory systems. A dynamic optimal distribution problem, including time-varying supply and demand, capacity constraints on the transportation lines, and convex flow cost…

This paper considers the network flow stabilization problem in power systems and adopts an output regulation viewpoint. Building upon the structure of a heterogeneous port-Hamiltonian model, we integrate network aspects and develop a…

In the present work we deal with the existence of solutions for optimal control problems associated to transport equations. The behaviour of a population of individuals will be influenced by the presence of a population of control agents…

Many decision-making algorithms draw inspiration from the inner workings of individual biological systems. However, it remains unclear whether collective behavior among biological species can also lead to solutions for computational tasks.…

This paper investigates the problem of optimal frequency regulation of multi-machine power networks where each synchronous machine is described by a sixth order model. By analyzing the physical energy stored in the network and the…

In recent papers it has been suggested that human locomotion may be modeled as an inverse optimal control problem. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem that has to be determined. We…

We study a class of convex-concave min-max problems in which the coupled component of the objective is linear in at least one of the two decision vectors. We identify such problem structure as interpolating between the bilinearly and…

In this article we develop a duality principle and concerning computational method for a structural optimization problem in elasticity. We consider the problem of finding the optimal topology for an elastic solid which minimizes its…

In the freeway network control (FNC) problem, the operation of a traffic network is optimized using only flow control. For special cases of the FNC problem, in particular the case when all merging flows are controlled, there exist tight…

Controlling complex networked systems to a desired state is a key research goal in contemporary science. Despite recent advances in studying the impact of network topology on controllability, a comprehensive understanding of the synergistic…

In this paper, we present experimental studies on a cooperative control system for human-robotic networks with inter-robot communication delays. We first design a cooperative controller to be implemented on each robot so that their motion…

This paper introduces a novel control strategy to optimize urban network traffic in mixed autonomy settings, featuring Connected and Automated Vehicles (CAVs) alongside Human-Driven Vehicles (HDVs). Unlike previous control strategies, where…

This paper presents a novel passivity-based semi-autonomous attitude control framework, with a particular focus on attitude kinematics defined on the special orthogonal group $SO(3)$. While human-robot interaction facilitates the successful…

Optimal control problems involving hybrid binary-continuous control costs are challenging due to their lack of convexity and weak lower semicontinuity. Replacing such costs with their convex relaxation leads to a primal-dual optimality…

In this article we develop a duality principle suitable for a large class of problems in optimization. The main result is obtained through basic tools of convex analysis and duality theory. We establish a correct relation between the…

An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…

This paper investigates the cooperative planning and control problem for multiple connected autonomous vehicles (CAVs) in different scenarios. In the existing literature, most of the methods suffer from significant problems in computational…

In large groups, every collaborative act requires balancing two pressures: the need to achieve behavioural synchrony and the need to keep free riding to a minimum. This paper introduces a model of collaboration that requires both…

We study the problem of minimizing the sum of potentially non-differentiable convex cost functions with partially overlapping dependences in an asynchronous manner, where communication in the network is not coordinated. We study the…