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Experimental validation of constraint mitigation algorithm in underwater robot depth control
(Professional Engineering Publishing Ltd, 2019-03)
This work explores both modeling and control of the experimental Ciscrea autonomous underwater vehicle. A 6-degree-of-freedom model is presented and validated for turn and emerge/sink maneuvers. Then, a constraint compensating ...
Suboptimal Control Strategies for Finite-Time Nonlinear Processes with Input Constraints
(Hindawi Publishing Corporation, 2013-09)
Novel techniques for the optimization and control of finite-time processes in real-time are pursued. These are developed in the framework of the Hamiltonian optimal control. Two methods are designed. The first one constructs ...
Wealth, Credit Constraints and Small Firms’ Investment: Evidence from Brazil
(Sociedade Brasileira de Econometria, 2020)
Stochastic model predictive control for tracking linear systems
(John Wiley & Sons Ltd, 2019-04)
This note presents a stochastic formulation of the model predictive control for tracking (MPCT), based on the results of the work of Lorenzen et al. The proposed controller ensures constraints satisfaction in probability, ...
First- and Second-Order Optimality Conditions for Optimal Control Problems of State Constrained Integral Equations
(Springer/Plenum Publishers, 2013-10)
This paper deals with optimal control problems of integral equations, with initial-final and running state constraints. The order of a running state constraint is defined in the setting of integral dynamics, and we work ...
Probabilistic extension to the concurrent constraint factor oracle model for music improvisation
(Asociacion Espanola de Inteligencia Artificial, 2016-01-01)
We can program a Real-Time (RT) music improvisation system in C++ without a formal semantic or we can model it with process calculi such as the Non-deterministic Timed Concurrent Constraint (ntcc) calculus. “A Concurrent ...
On the relationship between the energy shaping and the Lyapunov constraint based methods
(American Institute of Mathematical Sciences, 2017-12)
In this paper, we make a review of the controlled Hamiltonians (CH) method and its related matching conditions, focusing on an improved version recently developed by D.E. Chang. Also, we review the general ideas around the ...
Motion Control Design for an Omnidirectional Mobile Robot Subject to Velocity Constraints
(Hindawi Publishing Corporation, 2015)
Motion Control Design for an Omnidirectional Mobile Robot Subject to Velocity Constraints
(Hindawi Publishing Corporation, 2015)
Convergence Results for Optimal Control Problems Governed by Elliptic Quasivariational Inequalities
(Taylor & Francis, 2020-08)
We consider an optimal control problem (Formula presented.) governed by an elliptic quasivariational inequality with unilateral constraints. We associate to (Formula presented.) a new optimal control problem (Formula ...