相关论文: Hybrid control for optimal visiting problems for a…

This paper concerns two algorithms for solving optimal control problems with hybrid systems. The first algorithm aims at hybrid systems exhibiting sliding modes. The first algorithm has several features which distinguishes it from the other…

We consider a class of monotone systems in which the control signal multiplies the state. Among other applications, such bilinear systems can be used to model the evolutionary dynamics of HIV in the presence of combination drug therapy. For…

Optimal control of large particle systems with collective dynamics by few agents is a subject of high practical importance (e.g. in evacuation dynamics), but still limited mathematical basis. In particular the transition from discrete…

In this paper we consider a mean field approach to modeling the agents flow over a transportation network. In particular, beside a standard framework of mean field games, with controlled dynamics by the agents and costs mass-distribution…

The problem of robustly, asymptotically stabilizing a point (or a set) with two output-feedback hybrid controllers is considered. These control laws may have different objectives, e.g., the closed-loop systems resulting with each controller…

The Tourist Trip Design Problem aims to prescribe a sightseeing plan that maximizes tourist satisfaction while taking into account a multitude of parameters and constraints, such as the distances among points of interest, the expected…

We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…

This article develops variational integrators for a class of underactuated mechanical systems using the theory of discrete mechanics. Further, a discrete optimal control problem is formulated for the considered class of systems and…

In this paper, we consider a hierarchical control problem with model uncertainty. Specifically, we consider the following objectives that we would like to accomplish. The first one being of a controllability-type that consists of…

The paper addresses an optimal control problem for a perturbed sweeping process of the rate-independent hysteresis type described by a controlled "play and stop" operator with separately controlled perturbations. This problem can be reduced…

Many robotic applications involve interactions between multiple agents where an agent's decisions affect the behavior of other agents. Such behaviors can be captured by the equilibria of differential games which provide an expressive…

We consider the problem of steering a multi-agent system to multi-consensus, namely a regime where groups of agents agree on a given value which may be different from group to group. We first address the problem by using distributed…

This paper studies a control method for switching stable coexisting attractors of a class of non-autonomous dynamical systems. The central idea is to introduce a continuous path for the system's trajectory to transition from its original…

We study an optimal control problem for a simple transportation model on a path graph. We give a closed form solution for the optimal controller, which can also account for planned disturbances using feed-forward. The optimal controller is…

Controlling the shape and position of moving and pinned droplets on a solid surface is an important feature often found in microfluidic applications. In this work, we consider a well investigated phase field model including contact line…

For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded…

In this paper we introduce the optimal control of a kinetic model describing agents who migrate on a graph and interact within its nodes exchanging a physical quantity. As a prototype model, we consider the spread of an infectious disease…

In this paper, we examine the stationary relaxed singular control problem within a multi-dimensional framework for a single agent, as well as its mean field game equivalent. We demonstrate that optimal relaxed controls exist for two problem…

We consider a mean-field control problem in which admissible controls are required to be adapted to the common noise filtration. The main objective is to show how the mean-field control problem can be approximates by time consistent…

Models involving hybrid systems are versatile in their application but difficult to optimize efficiently due to their combinatorial nature. This work presents a method to cope with hybrid optimal control problems which, in contrast to…