We consider two fluid queues attended by a switching server and address the optimal steady-state and transient trajectory problems. The steady-state problem is formulated as a quadratic problem (QP), given a fixed cycle time. Evaluating the QP problem over a range of cycle times results in the optimal steady-state trajectory. We minimize the holding costs, backlog costs and setup costs, allow s...

We present a novel trajectory optimization framework to address the issue of robustness, scalability and efficiency in optimal control and reinforcement learning. Based on prior work in Cooperative Stochastic Differential Game (CSDG) theory, our method performs local trajectory optimization using cooperative controllers. The resulting framework is called Cooperative Game-Differential Dynamic Pr...

Recent developments in low-thrust trajectory optimization methods have shown that second-order gradient techniques can be e cient. Robust second-order methods allow one to solve complex dynamical problems, accounting for perturbations, and path constraints, with high delity. Convergence of the method, however, requires a very good initial guess, or a lot of user experience. Based on a quadratic...

In this paper, a class of saturated adaptive robust control (SARC) laws are developed for nonlinear systems in the \chain-of-integrator" form with both parametric uncertainties and non-repeatable uncertainties. A guaranteed transient performance and nal tracking accuracy is achieved in general. Furthermore, asymptotic output tracking is also achievable provided that the system undergoes paramet...

trajectories generally used to describe the space and time required to perform a desired motion task for a mobile robot or manipulator system. in this paper, we considered a cubic polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set of time. along the path, the robot requires to observe a certain acceleration profil...

Optimal load of mobile robots, while carrying a load with predefined motion precision is an important consideration regarding their applications. In this paper a general formulation for finding maximum load carrying capacity of flexible joint mobile manipulators is presented. Meanwhile, overturning stability of the system and precision of the motion on the given end-effector trajectory are take...