相关论文: Hands-Off Control as Green Control
Feedback is a most important concept in control systems, its main purpose is to deal with internal and/or external uncertainties in dynamical systems, by using the on-line observed information. Thus, a fundamental problem in control theory…
Safe yet stable grasping requires a robotic hand to apply sufficient force on the object to immobilize it while keeping it from getting damaged. Soft robotic hands have been proposed for safe grasping due to their passive compliance, but…
Feedback optimization refers to a class of methods that steer a control system to a steady state that solves an optimization problem. Despite tremendous progress on the topic, an important problem remains open: enforcing state constraints…
In this paper we We propose GoPRONTO, a first-order, feedback-based approach to solve nonlinear discrete-time optimal control problems. This method is a generalized first-order framework based on incorporating the original dynamics into a…
This paper proposes a computational technique based on "deep unfolding" to solving the finite-time maximum hands-off control problem for discrete-time nonlinear stochastic systems. In particular, we seek a sparse control input sequence that…
Transmission topology control is a tool used by system operators in the role of a control action taken into account as a preventive or corrective action relative to a specific outage or set of outages. However, their inclusion in most…
In this paper the concept of a machine learning based hands-on detection algorithm is proposed. The hand detection is implemented on the hardware side using a capacitive method. A sensor mat in the steering wheel detects a change in…
We consider the $\mathbb{H}_2$-optimal feedback control problem, for the case in which the plant is passive with bounded $\mathbb{L}_2$ gain, and the feedback law is constrained to be output-strictly passive. In this circumstance, we show…
In closed-loop wireless control systems, the state-of-the-art approach prescribes that a controller receives by wireless communications the individual sensor measurements, and then sends the computed control signal to the actuators. We…
Most modern control systems are switched, meaning they have continuous as well as discrete decision variables. Switched systems often have constraints called dwell-time constraints (e.g., cycling constraints in a heat pump) on the switching…
Symbolic control is an abstraction-based controller synthesis approach that provides, algorithmically, certifiable-by-construction controllers for cyber-physical systems. Symbolic control approaches usually assume that full-state…
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as…
In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…
The new method is considered for identifying the perfect (optimal) scenario of climate engineering operations based on the optimal control theory. The application of this approach is demonstrated using zero-dimensional energy-balance…
A new formulation of Stochastic Model Predictive Output Feedback Control is presented and analyzed as a translation of Stochastic Optimal Output Feedback Control into a receding horizon setting. This requires lifting the design into a…
From a mathematical point of view self-organization can be described as patterns to which certain dynamical systems modeling social dynamics tend spontaneously to be attracted. In this paper we explore situations beyond self-organization,…
This paper considers controlled scalar systems relying on a lossy wireless feedback channel. In contrast with the existing literature, the focus is not on the system controller but on the wireless transmit power controller that is…
The recently introduced energy-saving extension of the sub-optimal sliding mode control (SOSMC), which is known in the literature for the last two and half decades, incorporates a control-off mode that allows for saving energy during the…
Feedback control actively dissipates uncertainty from a dynamical system by means of actuation. We develop a notion of "control capacity" that gives a fundamental limit (in bits) on the rate at which a controller can dissipate the…
We introduce an alternative approach for the analysis and numerical approximation of the optimal feedback control mapping. It consists in looking at a typical optimal control problem in such a way that feasible controls are mappings…