相关论文: Discrete VHCs for Propeller Motion of a Devil-Stic…
We extend the discontinuous Galerkin (DG) framework to the analysis of first-order hyperbolic and advection-dominated problems posed on implicitly defined surfaces. The focus will be on the hyperbolic part, which is discretised using a…
We present a fully discrete stability analysis of the domain-of-dependence stabilization for hyperbolic problems. The method aims to address issues caused by small cut cells by redistributing mass around the neighborhood of a small cut cell…
Existing learning approaches to dexterous manipulation use demonstrations or interactions with the environment to train black-box neural networks that provide little control over how the robot learns the skills or how it would perform post…
We propose a new description of dynamics of autonomous mechanical systems which includes the momentum-velocity relation. This description is formulated as a variational principle of virtual action more complete than the Hamilton Principle.…
An adaptive direct collocation method is developed for solving optimal control problems constrained by parabolic partial differential equations. The partial differential equation is first reformulated in a variational setting, where the…
This paper investigates first-order variable metric backward forward dynamical systems associated with monotone inclusion and convex minimization problems in real Hilbert space. The operators are chosen so that the backward-forward…
The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods developed in prior work can successfully drive the Modboat along…
Loco-manipulation is a fundamental challenge for humanoid robots to achieve versatile interactions in human environments. Although recent studies have made significant progress in humanoid whole-body control, loco-manipulation remains…
We address the path-wise control of systems described by a set of nonlinear stochastic differential equations. For this class of systems, we introduce a notion of stochastic relative degree and a change of coordinates which transforms the…
Discrete control systems, as considered here, refer to the control theory of discrete-time Lagrangian or Hamiltonian systems. These discrete-time models are based on a discrete variational principle, and are part of the broader field of…
In this work we present a constructive method to design a family of virtual contraction based controllers that solve the standard trajectory tracking problem of flexible-joint robots (FJRs) in the port-Hamiltonian (pH) framework. The…
High-voltage direct current (HVDC) is a commonly used technology for long-distance electric power transmission, mainly due to its low resistive losses. When connecting multiple HVDC lines into a multi-terminal HVDC (MTDC) system, several…
An approach to the control of a VTOL vehicle equipped with complementary thrust-direction tilting capabilities that nominally yield full actuation of the vehicle's position and attitude is developed. The particularity and difficulty of the…
This paper introduces an explicit reference governor-based control scheme tailored for addressing the velocity-free spacecraft attitude maneuver problem. This problem is subject to specific constraints, namely the pointing constraint,…
Inverse design of slender elastic structures underlies a wide range of applications in computer graphics, flexible electronics, biomedical devices, and soft robotics. Traditional optimization-based approaches, however, are often orders of…
Deterministic optimal impulse control problem with terminal state constraint is considered. Due to the appearance of the terminal state constraint, the value function might be discontinuous in general. The main contribution of this paper is…
Robust control seeks stabilizing policies that perform reliably under adversarial disturbances, with $\mathcal{H}_\infty$ control as a classical formulation. It is known that policy optimization of robust $\mathcal{H}_\infty$ control…
This paper studies the stabilization for a kind of linear and impulse control systems in finite-dimensional spaces, where impulse instants appear periodically. We present several characterizations on the stabilization; show how to design…
This study focuses on using direct methods (first-discretize-then-optimize) to solve optimal control problems for a class of nonsmooth dynamical systems governed by differential variational inequalities (DVI), called optimal control…
The induction motors have wide range of applications for due to its well-known advantages like brushless structures, low costs and robust performances. Over the past years, many kind of control methods are proposed for the induction motors…