In optimal control theory, it is well known that the co-state arc and the associated maximized Hamiltonian function can be interpreted in terms of gradients of the value function, evaluated along the optimal state trajectory. Such relations have been referred to as ‘sensitivity relations’ in the literature. We provide in this paper new sensitivity relations for state constrained optimal control...

This paper aims to present a robust attitude control strategy with guaranteed transient performance. Firstly, a Lyapunov-based control law is designed to achieve highperformance attitude control in the absence of disturbance and parameter variation. The proposed control law uses small feedback gains to suppress the control torque at large attitude error, and increases those gains with the conve...

We present an active control scheme of a kinetic model of swarming. It has been shown previously that the global control scheme for the model, presented in [1], gives rise to spontaneous collective organization of agents into a unified coherent swarm, via a long-range attractive and short-range repulsive potential. We extend these results by presenting control laws whereby a single swarm is bro...

This paper presents the results of a lateral control strategy that has been applied to the problem of steering an autonomous vehicle using vision. The lateral control law has been designed for any kind of vehicle presenting the Ackerman kinematic model, accounting for the vehicle velocity as a crucial parameter for adapting the steering control response. This makes the control strategy suitable...

We establish the equivalence of competitive industry equilibrium with a central planner’s decision problem under uncertainty, when investment is irreversible. The existence of industry equilibrium is derived, and it is shown that myopic behavior on the part of small agents is harmless, in the sense that it leads to the same decisions as full rational expectations do. Our model is set in continu...

This paper presents a robust control scheme for flexible link robotic manipulators, which is based on considering the flexible mechanical structure as a system with slow (rigid) and fast (flexible) modes that can be controlled separately. The rigid dynamics is controlled by means of a robust sliding-mode approach with wellestablished stability properties while an LQR optimal design is adopted f...

In this paper, we look at a model depicting the relationship of cancer cells in different development stages with immune cells and a cell cycle specific chemotherapy drug. The model includes a constant delay in the mitotic phase. By applying optimal control theory, we seek to minimize the cost associated with the chemotherapy drug and to minimize the number of tumor cells. Global existence of a...

A covariance condition is shown to be a necessary condition for the existence of a finite control law associated with discrete-time quadratic loss-minimisation problems. Sufficient conditions (including the covariance condition) are then determined which extend the range of optimal-control problems, for which a well defined control law may be calculated. The results may also be applied to solvi...

The tracking control problem with saturation constraint for a class of unicycle-modeled mobile robots is formulated and solved using the backstepping technique and the idea from the LaSalle’s invariance principle. A global result is presented in which several constraints on the linear and the angular velocities of the mobile robot from recent literature are dropped. The proposed controller can ...

The NOCH framework was designed to serve as a foundation for development of models of neural motor control. The driving purpose behind the NOCH is bridging the gap between the control theory and neuroscience research in the field of motor control. This is done by identifying the underlying functions in control theory models of motor control and examining the structure/connections of the neural ...