相关论文: Model-Free Optimization on Smooth Compact Manifold…

Noisy observations coupled with nonlinear dynamics pose one of the biggest challenges in robot motion planning. By decomposing nonlinear dynamics into a discrete set of local dynamics models, hybrid dynamics provide a natural way to model…

This paper presents a new formulation for model-free robust optimal regulation of continuous-time nonlinear systems. The proposed reinforcement learning based approach, referred to as incremental adaptive dynamic programming (IADP),…

In this contribution we develop an efficient reduced order model for solving parametrized linear-quadratic optimal control problems with linear time-varying state system. The fully reduced model combines reduced basis approximations of the…

This paper presents a density-based topology optimization approach to design structures under self-weight load. Such loads change their magnitude and/or location as the topology optimization advances and pose several unique challenges,…

Highly accurate simulations of complex phenomena governed by partial differential equations (PDEs) typically require intrusive methods and entail expensive computational costs, which might become prohibitive when approximating steady-state…

We present a detailed set of performance comparisons of two state-of-the-art solvers for the application of designing time-delay compensators, an important problem in the field of robust control. Formulating such robust control mechanics as…

This chapter provides an introduction to Hybrid High-Order (HHO) methods. These are new generation numerical methods for PDEs with several advantageous features: the support of arbitrary approximation orders on general polyhedral meshes,…

De-homogenization is becoming an effective method to significantly expedite the design of high-resolution multiscale structures, but existing methods have thus far been confined to simple static compliance minimization. There are two…

Feedback optimization is a control paradigm that enables physical systems to autonomously reach efficient operating points. Its central idea is to interconnect optimization iterations in closed-loop with the physical plant. Since iterative…

This paper concerns the numerical procedure for solving hybrid optimal control problems with sliding modes. The proposed procedure has several features which distinguishes it from the other procedures for the problem. First of all a sliding…

We present a methodology that extends invariant manifold theory to a class of autonomous piecewise linear systems with nonsmoothness at the equilibrium, providing a framework for model order reduction in mechanical structures with compliant…

Multi-material design optimization problems can, after discretization, be solved by the iterative solution of simpler sub-problems which approximate the original problem at an expansion point to first order. In particular, models…

Computing optimal, collision-free trajectories for high-dimensional systems is a challenging problem. Sampling-based planners struggle with the dimensionality, whereas trajectory optimizers may get stuck in local minima due to inherent…

Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems. Existing work either solves this problem through mixed-integer optimization, relying on simplification of…

Soft robotics has emerged as the standard solution for grasping deformable objects, and has proven invaluable for mobile robotic exploration in extreme environments. However, despite this growth, there are no widely adopted computational…

Magnetic soft robots embedded with hard magnetic particles enable untethered actuation via external magnetic fields, offering remote, rapid, and precise control, which is highly promising for biomedical applications. However, designing such…

This paper studies optimal time-bounded control in multi-mode systems with discrete costs. Multi-mode systems are an important subclass of linear hybrid systems, in which there are no guards on transitions and all invariants are global.…

The traditional element-based topology optimization based on material penalization typically aims at a 0/1 design. Our numerical experiments reveal that the compliance of a smooth design is overestimated when material properties of boundary…

Collisions are common in many dynamical systems with real applications. They can be formulated as hybrid dynamical systems with discontinuities automatically triggered when states transverse certain manifolds. We present an algorithm for…

This paper presents a pressure-robust discretizations, specifically within the context of optimal control problems for the Stokes-Darcy system. The study meticulously revisits the formulation of the divergence constraint and the enforcement…