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This thesis addresses the design of optimization-based control laws for the case where convergence to a desired set-point, minimization of an arbitrary performance index, or a combination of the two, is the desired objective. The results are developed with ...
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 ...
In this paper, we present a new walking controller based on 3LP model. Taking advantage of linear equations and closed-form solutions of 3LP, the proposed controller can project the state of the robot at any time during the phase back to a certain event fo ...
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 ...
Although the technology for fully autonomous swarms of robots is rapidly progressing, the human operator will continue to play an important role during any swarming mission due to safety, monitoring and control constraints. In this paper, we present the se ...
This paper presents an algorithm to solve the infinite horizon constrained linear quadratic regulator (CLQR) problem using operator splitting methods. First, the CLQR problem is reformulated as a (finite-time) model predictive control (MPC) problem without ...
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 ...
A probabilistic interpretation of model predictive control is presented, enabling extensions to multiple coordinate systems. The resulting controller follows a minimal intervention principle, by learning and retrieving movements through the coordination of ...
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 work explores the use of active tails for steady-state legged-locomotion. Simple models are proposed which capture the dynamics of an idealized running system with an active tail. Analysis suggests that the control objectives of injecting energy into ...
