In this work, we propose a conceptual framework for integrating dynamic economic optimization and model predictive control (MPC) for optimal operation of nonlinear process systems. First, we introduce the proposed two-layer integrated framework. The upper layer, consisting of an economic MPC (EMPC) system that receives state feedback and time-dependent economic information, computes economicall...

In order to control gymnastic and jumping robots, we will derive the complete analytical solution to the posture control problem of a two-link free flying object with initial angular momentum. We will show that the solution involves singular control and derive formulas to calculate the optimal switching condition, optimal terminal time and optimal trajectories. As an application, a high diving ...

This paper deals with the problem of planning and controlling the trajectories of the legs of a mobile robot moving through statically stable conngurations. Legs are supposed to possess signiicant weight compared to the chassis, and a degree of redundancy that can be used to maximize the robustness of equilibrium. We use optimal control techniques for planning joint trajectories that comply wit...

In order to control gymnastic and jumping robots, we will derive the complete analytical solution to the posture control problem of a two-link free flying object with initial angular momentum. We will show that the solution involves singular control and derive formulae to calculate the optimal switching condition, optimal terminal time and optimal trajectories. As an application, a high diving ...