Problems in robotics and biomechanics such as tra-jectory planning or resolution of redundancy can be eeectively solved using optimal control. Such systems are often subject to unilateral constraints. Examples include tasks involving contacts (e.g., walking, running , multiingered or multiarm manipulation), and other tasks that may not involve contacts but in which the system state or the input...

This paper deals with the control of the induction phase of anesthesia. The objective during this first phase is to bring the patient from its awake state to a final state corresponding to some given depth of anesthesia, measured by the BIS (Bispectral index), within a minimum time. This optimal time control strategy is addressed by means of the maximum principle of Pontryagin. Furthermore, sin...

In this paper, we study the minimum time planar tilting maneuver of a spacecraft, from the theoretical as well as from the numerical point of view, with a particular focus on the chattering phenomenon. We prove that there exist optimal chattering arcs when a singular junction occurs. Our study is based on the Pontryagin Maximum Principle and on results by M.I. Zelikin and V.F. Borisov. We give ...

Using kinematic resolution, the optimal path planning for two redundant cooperative manipulators carrying a solid object on a desired trajectory is studied. The optimization problem is first solved with no constraint. Consequently, the nonlinear inequality constraints, which model obstacles, are added to the problem. The formulation has been derived using Pontryagin Minimum Principle and result...

There is an opportunity for using digital maps with real-time updates to improve the energy management of vehicles. In this paper, we present research on how this can be achieved in the particular case of plug-in hybrid electric vehicles. With perfect knowledge of the trip ahead, it is possible to find the optimal control of the vehicle. Digital maps, however, provide only averaged information ...

Active Queue Management (AQM) is an important problem in networking. In this paper, we propose a general functional optimization model for designing AQM schemes. Unlike the previous static function optimization models based on the artificial notion of utility function, the proposed dynamic functional optimization formulation allows us to directly characterize the desirable system behavior of AQ...

Let M be a differentiable manifold, T x its tangent space at ε and TM={(x,y);x M; y M} bundle. A C 0 -Finsler structure is continuous function F:TM → [0, ∞ ) such that F(x, · ):T an asymmetric norm. In this work we introduce the Pontryagin type structures, which are structures satisfy minimum requirements of Pontryagin's maximum principle for problem minimizing paths. We define extended geodesi...

According to data from The Indonesian ministry of health, many individuals suffere dengue fever until may 2023 in Indonesia. To reduce its cases, this article, a single control strategy vaccination for infected human by has been proposed. obtain the optimal control, SIR model modificated with and new objective function made before Pontryagin minimum principle is used article. differential equat...

<p style='text-indent:20px;'>We investigate the null controllability property of systems that mathematically describe dynamics some non-Newtonian incompressible viscous flows. The principal model we study was proposed by O. A. Ladyzhenskaya, although techniques develop here apply to other fluids having a shear-dependent viscosity. Taking advantage Pontryagin Minimum Principle, utilize boo...

We consider a time-optimal problem for the Reeds and Shepp model describing a moving point on a plane, with a onesided variation of the speed and a free final direction of velocity. Using Pontryagin Maximum Principle, we obtain all possible types of extremals and, analyzing them and discarding nonoptimal ones, construct the optimal synthesis.