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This thesis uses the idea of lifting (or embedding) a nonlinear controlled dynamical system into an infinite-dimensional space of measures where this system is equivalently described by a linear equation. This equation and problems involving it are subsequ ...
We consider a finite element method (FEM) with arbitrary polynomial degree for nonlinear monotone elliptic problems. Using a linear elliptic projection, we first give a new short proof of the optimal convergence rate of the FEM in the L2 norm. We then deri ...
In this article, we propose a multi-staged algorithm to detect the magnitude, direction and location of a single external force applied to a humanoid robot while performing dynamic tasks. We use contact force and joint torque sensors as well as IMU to esti ...
This paper investigates the relations between three different properties, which are of importance in continuous-time optimal control problems: dissipativity of the underlying dynamics with respect to a specific supply rate, optimal operation at steady stat ...
We provide a technique for constructing optimal multiattribute screening contracts in a general setting with one-dimensional types based on necessary optimality conditions. Our approach allows for type-dependent participation constraints and arbitrary risk ...
The main purpose of this project is to account for a passenger-centric transit assignment improvement in the framework of a multi-objective optimisation problem in railway networks. Most of the transit assignment models computed to operate railway schedule ...
We provide a technique for constructing optimal multiattribute screening contracts in a general setting with one-dimensional types based on necessary optimality conditions. Our approach allows for type-dependent participation constraints and arbitrary risk ...
This paper is framed within the context of intra-day optimal control of polygeneration systems and storage connected to microgrids. In particular, the paper proposes an optimal control strategy that accounts for both electrical and thermal processes taking ...
This work considers the infinite-time discounted optimal control problem for continuous time input-affine polynomial dynamical systems subject to polynomial state and box input constraints. We propose a sequence of sum-of-squares (SOS) approximations of th ...
In this article, we propose a new controller for recovering intermittent pushes during bipedal locomotion. We use 3LP as a template model which can provide closed-form solutions for state evolution. The idea behind our controller is to project the perturbe ...