Dynamics systems vs. optimal control a unifying view
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We consider differentiability with respect to the switch times of the value function of an optimal control problem for a non-autonomous switched system. The control variables are the switch times between the modes and the input in each mode. We provide a m ...
Transferring skills from a biological organism to a hyper-redundant system is a challenging task, especially when the two agents have very different structure/embodiment and evolve in different environments. In this article we propose to address this probl ...
Triggered assistance has been shown to be a successful robotic strategy for provoking motor plasticity, probably because it requires neurologic patients’ active participation to initiate a movement involving their impaired limb. Triggered assistance, howev ...
In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...
We describe a framework for analyzing probabilistic reachability and safety problems for discrete time stochastic hybrid systems within a dynamic games setting. In particular, we consider finite horizon zero-sum stochastic games in which a control has the ...
We characterize the maximum controlled invariant (MCI) set for discrete-time systems as the solution of an infinite-dimensional linear programming problem. In the case of systems with polynomial dynamics and semialgebraic state and control constraints, we ...
The prototypical problem in control theory is the stabilization of a set point. When, instead of a set point, a time-varying reference needs to be stabilized, then the problem is called trajectory tracking. Typical examples of trajectory-tracking problems ...
This dissertation describes a complete methodological framework for designing, modeling and optimizing a specific class of distributed systems whose dynamics result from the multiple, stochastic interactions of their constitutive components. These componen ...
Many real-world systems are intrinsically nonlinear. This thesis proposes various algorithms for designing control laws for input-affine single-input nonlinear systems. These algorithms, which are based on the concept of quotients used in nonlinear control ...
Nonlinear dynamical systems have been used in many disciplines to model complex behaviors, including biological motor control, robotics, perception, economics, traffic prediction, and neuroscience. While often the unexpected emergent behavior of nonlinear ...