相关论文: Hands-Off Control as Green Control
Increasing threats of global warming and climate changes call for an energy-efficient and sustainable design of future wireless communication systems. To this end, a novel two-scale stochastic control framework is put forth for smart-grid…
The aim of this paper is to shed light on the problem of controlling a complex network with minimal control energy. We show first that the control energy depends on the time constant of the modes of the network, and that the closer the…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
The relaxation systems are an important subclass of the passive systems that arise naturally in applications. We exploit the fact that they have highly structured state-space realisations to derive analytical solutions to some simple…
We investigate optimal control of linear port-Hamiltonian systems with control constraints, in which one aims to perform a state transition with minimal energy supply. Decomposing the state space into dissipative and non-dissipative (i.e.…
This work is focused on optimal control of mechanical compression refrigeration systems. A reduced-order state-space model based on the moving boundary approach is proposed for the canonical cycle, which eases the controller design. The…
The scheme of online optimization as a feedback controller is widely used to steer the states of a physical system to the optimal solution of a predefined optimization problem. Such methods focus on regulating the physical states to the…
In this article, the optimal control problem for a harmonic oscillator with an inequality constraint is considered. The applied energy of the oscillator during a fixed final time period is used as the performance criterion. The analytical…
Achieving control stability is one of the key design challenges of scalable Wireless Networked Control Systems (WNCS) under limited communication and computing resources. This paper explores the use of an alternative control concept defined…
The subject of controlling quantum systems is not new, but concepts that have been introduced in the last decade and a half, especially that of coherent feedback, suggest new questions that broaden and deepen the field. Here we provide a…
In inverse optimal control, the optimality of a given feedback stabilizing controller is a byproduct of the choice of a meaningful, a posteriori defined, cost functional. This allows for a simple tuning comparable to linear quadratic…
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 derive a feedback control law for the control of the downstream flow in a 1-D open channel by manipulating the water flow at an upstream location. We use backstepping for controller design and Lyapunov techniques for stability analysis.…
Open Arms is a novel open-source platform of realistic human-like robotic hands and arms hardware with 28 Degree-of-Freedom (DoF), designed to extend the capabilities and accessibility of humanoid robotic grasping and manipulation. The Open…
The ability to accurately control the dynamics of physical systems by measurement and feedback is a pillar of modern engineering. Today, the increasing demand for applied quantum technologies requires to adapt this level of control to…
We study optimal control of diffusions with slow and fast variables and address a question raised by practitioners: is it possible to first eliminate the fast variables before solving the optimal control problem and then use the optimal…
This article discusses an optimal control problem for a phase field model of two immiscible incompressible fluid flow, incorporating surface tension effects. The optimal control problem is defined with a $L^2$-cost functional and subject to…
With the continuous advancement of robot teleoperation technology, shared control is used to reduce the physical and mental load of the operator in teleoperation system. This paper proposes an alternating shared control framework for object…
Achieving optimality in controlling physical systems is a profound challenge across diverse scientific and engineering fields, spanning neuromechanics, biochemistry, autonomous systems, economics, and beyond. Traditional solutions, relying…