相关论文: Hands-Off Control as Green Control

This paper presents an energy and thermal management system for electric race cars, where we tune a lift-off-throttle signal for the driver in real-time to respect energy budgets and thermal constraints. First, we compute the globally…

The strength of the human hand lies in its ability to manipulate small objects precisely and robustly. In contrast, simple robotic grippers have low dexterity and fail to handle small objects effectively. This is why many automation tasks…

This paper discusses the design and the performance achievable with active aerodynamic attitude control in very low Earth orbit, i.e. below 450 km in altitude. A novel real-time algorithm is proposed for selecting the angles of deflection…

Motor control is a fundamental process that underlies all voluntary behavioral responses. Several different theories based on different principles (task dynamics, equilibrium-point theory, passive-motion paradigm, active inference, optimal…

In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…

We present novel results on the solution of a class of leavable, undiscounted optimal control problems in the minimax sense for nonlinear, continuous-state, discrete-time plants. The problem class includes entry-(exit-)time problems as well…

The present paper addresses the problem of existence of an (output) feedback law to the purposes of asymptotically steering to zero a given controlled variable, while keeping all state variables bounded, for any initial conditions in a…

This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…

This paper presents a closed-loop controller for wind farms to provide active power control services using a high-fidelity computational fluid dynamics based wind plant simulator. The proposed design enhances power tracking stability and…

The traditional approach to feedback control is to apply forces to a system by modifying the Hamiltonian. Here we show that quantum systems can be controlled without any Hamiltonian feedback, purely by exploiting the random quantum…

Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…

Transmit beamforming is a simple multi-antenna technique for increasing throughput and the transmission range of a wireless communication system. The required feedback of channel state information (CSI) can potentially result in excessive…

In this work, we demonstrate the open-loop control of chaotic systems by means of optimized periodic signals. The use of such signals enables us to reduce control power significantly in comparison to simple harmonic perturbations. It is…

Topology Control (TC) aims at tuning the topology of highly dynamic networks to provide better control over network resources and to increase the efficiency of communication. Recently, many TC protocols have been proposed. The protocols are…

Two recent developments in quantum control, concatenation and optimization of pulse intervals, are combined to yield a strategy to suppress unwanted couplings in quantum systems to high order. Longitudinal relaxation and transverse…

A new universality in optimization of trade-off between power and efficiency for low-dissipation Carnot cycles is presented. It is shown that any trade-off measure expressible in terms of efficiency and the ratio of power to its maximum…

This paper introduces a new approach for output feedback stabilization of SISO systems which, unlike most of the techniques found in the literature, does not use high-gain observers and control input saturation to achieve separation between…

The paper presents necessary and sufficient conditions for the order reduction of optimal control systems. Exploring the corresponding Hamiltonian system allows to solve the order reduction problem in terms of dynamical systems,…

Optimal control theory deals with finding protocols to steer a system between assigned initial and final states, such that a trajectory-dependent cost function is minimized. The application of optimal control to stochastic systems is an…

The optimal control problem of stochastic systems is commonly solved via robust or scenario-based optimization methods, which are both challenging to scale to long optimization horizons. We cast the optimal control problem of a stochastic…