相关论文: Optimal Control of Nonholonomic Systems via Magnet…
The ability to characterise a Hamiltonian with high precision is crucial for the implementation of quantum technologies. In addition to the well-developed approaches utilising optimal probe states and optimal measurements, the method of…
This paper is concerned with a constrained stochastic linear-quadratic optimal control problem, in which the terminal state is fixed and the initial state is constrained to lie in a stochastic linear manifold. The controllability of…
We examine the problem of two-point boundary optimal control of nonlinear systems over finite-horizon time periods with unknown model dynamics by employing reinforcement learning. We use techniques from singular perturbation theory to…
The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a large class. But since mechanical systems are typically…
We study the interplay between rotating wave approximation and optimal control. In particular, we show that for a wide class of optimal control problems one can choose the control field such that the Hamiltonian becomes time-independent…
The theory of controlled mechanical systems of [6, 3, 4] is extended to the case of ideal incompressible fluids consisting of charged particles in the presence of an external magnetic field. The resulting control is of feedback type and…
The paper presents an approach to studying optimal control problems in the space of nonnegative measures with dynamics given by a nonlocal balance law. This approach relies on transforming the balance law into a continuity equation in the…
Symbolic optimal control is a powerful method to synthesize algorithmically correct-by-design state-feedback controllers for nonlinear plants. Its solutions are (near-)optimal with respect to a given cost function. In this note, it is…
We formulate nonlinear nonlocal integro-PDE with memory, biloaded (boundary integrals load the ambient space, and the ambient space loads the boundary), and the associated optimal control problems. We derive part of the necessary conditions…
In this paper, we develop the Chaplygin reducing multiplier method; using this method, we obtain a conformally Hamiltonian representation for three nonholonomic systems, namely, for the nonholonomic oscillator, for the Heisenberg system,…
We study local controllability and optimal control problems for invertible discrete-time control systems. We present second order necessary conditions for optimality and sufficient conditions for local controllability. The conditions are…
We study the reduction of degrees of freedom for the equations that determine necessary optimality conditions for extrema in an optimal control problem for a multiagent system by exploiting the physical symmetries of agents, where the…
This is a survey article, from the viewpoint of the completeness of the Marsden- Weinstein reduction, to introduce briefly some recent developments of the symmetric reductions and Hamilton-Jacobi theory of the regular controlled Hamiltonian…
Nonholonomic models of automobiles are developed by utilizing tools of analytical mechanics, in particular the Appellian approach that allows one to describe the vehicle dynamics with minimum number of time-dependent state variables. The…
In this paper, we present a framework for solving continuous optimal control problems when the true system dynamics are approximated through an imperfect model. We derive a control strategy by applying Pontryagin's Minimum Principle to the…
This paper develops a new approach to small time local attainability of smooth manifolds of any dimension, possibly with boundary and to prove H\"older continuity of the minimum time function. We give explicit pointwise conditions of any…
We study the Pontryagin maximum principle by deriving necessary and sufficient conditions for a class of optimal control problems arising in non exchangeable mean field systems, where agents interact through heterogeneous and asymmetric…
Optimal quantum control of continuous variable systems poses a formidable computational challenge because of the high-dimensional character of the system dynamics. The framework of quantum invariants can significantly reduce the complexity…
Non-holonomic vehicles are of immense practical value and increasingly subject to automation. However, controlling them accurately, e.g., when parking, is known to be challenging for automatic control methods, including model predictive…
In this paper, we compare the performance of different numerical schemes in approximating Pontryagin's Maximum Principle's necessary conditions for the optimal control of nonholonomic systems. Retraction maps are used as a seed to construct…