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Time-optimal path following considers the problem of moving along a predetermined geometric path in minimum time. In the case of a robotic manipulator with simplified constraints, a convex reformulation of this optimal control problem has been derived prev ...
Institute of Electrical and Electronics Engineers2013
We present a primal-dual algorithmic framework to obtain approximate solutions to a prototypical constrained convex optimization problem, and rigorously characterize how common structural assumptions affect the numerical efficiency. Our main analysis techn ...
A method to synthesize shaped beams with antenna arrays is presented. Specifically, the element excitations are determined such that the array radiates a power pattern that approximates a desired shape. To efficiently solve this problem, an iterative algor ...
Redundant Gabor frames admit an infinite number of dual frames, yet only the canonical dual Gabor system, con- structed from the minimal l2-norm dual window, is widely used. This window function however, might lack desirable properties, such as good time-f ...
Receding horizon control requires the solution of an optimization problem at every sampling instant. We present efficient interior point methods tailored to convex multistage problems, a problem class which most relevant MPC problems with linear dynamics c ...
Switched dynamical systems have shown great utility in modeling a variety of systems. Unfortunately, the determination of a numerical solution for the optimal control of such systems has proven difficult, since it demands optimal mode scheduling. Recently, ...
We develop tractable semidefinite programming based approximations for distributionally robust individual and joint chance constraints, assuming that only the first- and second-order moments as well as the support of the uncertain parameters are given. It ...
We introduce a model-based excessive gap technique to analyze first-order primal- dual methods for constrained convex minimization. As a result, we construct new primal-dual methods with optimal convergence rates on the objective residual and the primal fe ...
Receding horizon control requires the solution of an optimization problem at every sampling instant. We present efficient interior point methods tailored to convex multistage problems, a problem class which most relevant MPC problems with linear dynamics c ...
An iterative procedure for the synthesis of sparse arrays radiating focused or shaped beampattern is presented. The algorithm consists in solving a sequence of weighted l(1) convex optimization problems. The method can thus be readily implemented and effic ...
Institute of Electrical and Electronics Engineers2012
