Robust Quantum Optimal Control with Trajectory Optimization

Optimal Singular Control With Applications to .Trajectory Optimization

Constrained Robust Optimal Trajectory Tracking: Model Predictive Control Approaches

This thesis is concerned with the theoretical foundations of Robust Model Predictive Control and its application to tracking control problems. Its first part provides an introduction to MPC for constrained linear systems as well as a survey of different Robust MPC methodologies. The second part consists of a discussion of the recently developed Tube-Based Robust MPC framework and its extension ...

Robust Trajectory Free Model Predictive Control of Biped Robots with Adaptive Gait Length

This paper employs nonlinear disturbance observer (NDO) for robust trajectory-free Nonlinear Model Predictive Control (NMPC) of biped robots. The NDO is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. In contrary to the slow-varying disturbances, handling sudden pushing ...

Distributed optimal control for multi-agent trajectory optimization

This paper presents a novel optimal control problem, referred to as distributed optimal control, that is applicable to multiscale dynamical systems comprised of numerous interacting agents. The system performance is represented by an integral cost function of themacroscopic state that is optimized subject to a hyperbolic partial differential equation known as the advection equation. The microsc...

Space Trajectory Optimization and L-Optimal Control Problems