相关论文: Simultaneous Optimal System and Controller Design …

Solder joint reliability related to failures due to thermomechanical loading is a critically important yet physically complex engineering problem. As a result, simulated behavior is oftentimes computationally expensive. In an increasingly…

Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On…

The objective of this note is to share some reflections of the authors regarding the use of sliding mode designs in control systems. We believe the abundant, and ever increasing, appearance of this kind of works on our scientific…

We present a method for efficient differentiable simulation of articulated bodies. This enables integration of articulated body dynamics into deep learning frameworks, and gradient-based optimization of neural networks that operate on…

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 is devoted to the study of the dynamic optimization of several controlled crowd motion models in the general planar settings, which is an application of a class of optimal control problems involving a general nonconvex sweeping…

This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…

Finite-dimensional dissipative dynamical systems with multiple time-scales are obtained when modeling chemical reaction kinetics with ordinary differential equations. Such stiff systems are computationally hard to solve and therefore,…

We present a multilevel stochastic gradient descent method for the optimal control of systems governed by partial differential equations under uncertain input data. The gradient descent method used to find the optimal control leverages a…

Real-time accurate solutions of large-scale complex dynamical systems are in critical need for control, optimization, uncertainty quantification, and decision-making in practical engineering and science applications, especially digital twin…

Design optimization of mechanisms is a promising research area as it results in more energy-efficient machines without compromising performance. However, machine builders do not actually use the potential described in the literature as…

In recent years, soft robotics simulators have evolved to offer various functionalities, including the simulation of different material types (e.g., elastic, hyper-elastic) and actuation methods (e.g., pneumatic, cable-driven, servomotor).…

In this paper, we address the development of a robotic rehabilitation system for the upper limbs based on collaborative end-effector solutions. The use of commercial collaborative robots offers significant advantages for this task, as they…

Mechanical compliance is a key design parameter for dynamic contact-rich manipulation, affecting task success and safety robustness over contact geometry variation. Design of soft robotic structures, such as compliant fingers, requires…

Demand for high-performance, robust, and safe autonomous systems has grown substantially in recent years. These objectives motivate the desire for efficient safety-theoretic reasoning that can be embedded in core decision-making tasks such…

We present a new algorithm for model predictive control of non-linear systems with respect to multiple, conflicting objectives. The idea is to provide a possibility to change the objective in real-time, e.g.~as a reaction to changes in the…

Rapid robotic system development sets a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present collaborative modeling that combines discrete-event models of controller software…

This paper proposes a novel approach to integrate optimal control of perimeter intersections (i.e. to minimize local delay) into the perimeter control scheme (i.e. to optimize traffic performance at the network level). This is a complex…

Dynamical systems models for controlling multi-agent swarms have demonstrated advances toward resilient, decentralized navigation algorithms. We previously introduced the NeuroSwarms controller, in which agent-based interactions were…

The coupling of human movement dynamics with the function and design of wearable assistive devices is vital to better understand the interaction between the two. Advanced neuromuscular models and optimal control formulations provide the…