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In the past few years, several light-weight soft wearable robots, so called exosuits, for upper extremity assistance have been developed. The design of exosuits is often based on a bio-mimetic design approach, mimicking the human biomechanics. However, in ...
We present two Lie algebroids linked to the construction of the linearizing output of an input affine nonlinear system. The algorithmic development of the linearizing output proceeds inductively, and each stage has two structures, namely a codimension one ...
We address the problem of minimizing a convex smooth function f(x) over a compact polyhedral set D given a stochastic zeroth-order constraint feedback model. This problem arises in safety-critical machine learning applications, such as personalized medicin ...
The steady-state performance of a parametrically or structurally uncertain system can be optimized using iterative real-time optimization methods such as modifier adaptation. Here, we extend a recently proposed second-order modifier-adaptation scheme in tw ...
In this paper, we propose a novel time-varying feedback control strategy based on the Robust Integral of the Sign of the Error (RISE). The main motivation is to enhance the tracking performance of RISE controller at high dynamic operating conditions. RISE ...
Two Lie algebroids are presented that are linked to the construction of the linearizing output of an affine in the input nonlinear system.\ The algorithmic construction of the linearizing output proceeds inductively, and each stage has two structures, name ...
Based on a dynamic model of the stochastic repayment behavior exhibited by delinquent credit-card accounts as a self-exciting point process, a bank can control the arrival intensity of repayments using costly account-treatment actions. A semi-analytic solu ...
This paper investigates reverse auctions that involve continuous values of different types of goods, general nonconvex constraints, and second stage costs. We seek to design the payment rules and conditions under which coalitions of participants cannot inf ...
This paper develops a distributed optimization strategy with guaranteed exact convergence for a broad class of left-stochastic combination policies. The resulting exact diffusion strategy is shown in Part II of this paper to have a wider stability range an ...
This paper presents a closed-form approach to obstacle avoidance for multiple moving convex and star-shaped concave obstacles. The method takes inspiration in harmonic-potential fields. It inherits the convergence properties of harmonic potentials. We prov ...
