Computing globally efficient solutions is a major challenge in optimal control of nonlinear dynamical systems. This work proposes a method combining local optimization and motion planning techniques based on exploiting inherent dynamical systems structures, such as symmetries and invariant manifolds. Prior to the optimal control, the dynamical system is analyzed for structural properties that c...

In this paper, we describe an algorithm for estimating the H∞-norm of a large linear time invariant dynamical system described by a discrete time state-space model. The algorithm is designed to be efficient for state-space models defined by {A, B,C, D} where A is a large sparse matrix of order n which is assumed very large relative to the input and output dimensions of the system.

Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...