We describe a class of mechanical systems for which the “method of controlled Lagrangians” provides a family of control laws that stabilize an unstable (relative) equilibrium. The controlled Lagrangian approach involves making modifications to the Lagrangian for the uncontrolled system such that the Euler-Lagrange equations derived from the modified or “controlled” Lagrangian describe the close...

We describe a class of mechanical systems for which the “method of controlled Lagrangians” provides a family of control laws that stabilize an unstable (relative) equilibrium. The controlled Lagrangian approach involves making modifications to the Lagrangian for the uncontrolled system such that the Euler-Lagrange equations derived from the modified or “controlled” Lagrangian describe the close...

In this paper, the existence of an optimal path and its convergence to the optimal set of a primal problem of minimizing an extended real-valued function are established via a generalized augmented Lagrangian and corresponding generalized augmented Lagrangian problems, in which no convexity is imposed on the augmenting function. These results further imply a zero duality gap property between th...

This paper is aimed toward the definition of a new exact augmented Lagrangian function for two-sided inequality constrained problems. The distinguishing feature of this augmented Lagrangian function is that it employs only one multiplier for each two-sided constraint. We prove that stationary points, local minimizers and global minimizers of the exact augmented Lagrangian function correspond ex...

We propose a new algorithm for approximate MAP inference on factor graphs, which combines augmented Lagrangian optimization with the dual decomposition method. Each slave subproblem is given a quadratic penalty, which pushes toward faster consensus than in previous subgradient approaches. Our algorithm is provably convergent, parallelizable, and suitable for fine decompositions of the graph. We...

Given a set of corrupted data drawn from a union of multiple subspace, the subspace recovery problem is to segment the data into their respective subspace and to correct the possible noise simultaneously. Recently, it is discovered that the task can be characterized, both theoretically and numerically, by solving a matrix nuclear-norm and a `2,1-mixed norm involved convex minimization problems....

The analytic center of a polytope P fx Ax b ex g is characterized by a saddle point condition min y R max x S g x y max x S min y R g x y on the Lagrangian function

This paper proposes an optimal algorithm for distributed orbit determination by using discrete observations provided from multiple tracking stations in a connected network. The objective is to increase the precision of estimation by communication and cooperation between tracking stations in the network. We focus on the dynamical approach considering a simplified Low Earth Orbital Satellite mode...

Equations governing the flow of fluid containing visco-hyperelastic particles are developed in an Eulerian framework. The novel feature introduced here is to write an evolution equation for the strain. It is envisioned that this will simplify numerical codes which typically compute the strain on Lagrangian meshes moving through Eulerian meshes. Existence results for the flow of linear visco-hyp...

We present a method for applying semi-implicit forces on a Lagrangian mesh to an Eulerian discretization of the Navier Stokes equations in a way that produces a sparse symmetric positive definite system. The resulting method has semi-implicit and fully-coupled viscosity, pressure, and Lagrangian forces. We apply our new framework for forces on a Lagrangian mesh to the case of a surface tension ...