This paper proposes real-time sequential convex programming (RTSCP), a method for solving a sequence of nonlinear optimization problems depending on an online parameter. We provide a contraction estimate for the proposed method and, as a byproduct, a new proof of the local convergence of sequential convex programming. The approach is illustrated by an example where RTSCP is applied to nonlinear...

We consider a Lie group formulation for the problem of control of formations. Vehicle trajectories are described using the planar Frenet-Serret equations of motion, which capture the evolution of both vehicle position and orientation for unit-speed motion subject to curvature (steering) control. The Lie group structure can be exploited to determine the set of all possible (relative) equilibria ...

In this paper we study the distributed and boundary optimal control of the Stokes equations in presence of pointwise control constraints. The analysis of the problems involve existence results, as well as necessary conditions and optimality systems. A primal-dual active set strategy is studied for the numerical solution of the problems. For the distributed case, global and local convergence res...

Intelligent tutoring systems constitute an evolution of computer-aided educational software. We present here the modules of an intelligent tutoring system for Automatic Control, developed in our department. Through the software application developed, students can perform complete automatic control laboratory experiments, either over the departmental local area network or over the Internet. Moni...

An analysis of 86 patients sterilized laparoscopically with Hulka clips is presented. We find that the method is simple, acceptable and has minimal complication. The failure rate is similar to that reported by others. However, this method could be done under local anaesthesia thus shortening the hospital stay for the patients. This method has the advantage of safety and prospects for reversal w...

This paper wants to present the first reasoning in order to implement on a network a process control application type which is, in a first time, specified with a continuous model (transfer function in the Laplace domain). The network is a local area network and we only consider the MAC layer (frame scheduling) and the physical layer (serial frame transmission). By first reasoning, we mean that,...

A control system q̇ = f(q, u) is said to be trivializable if there exists local coordinates in which the system is feedback equivalent to a control system of the form q̇ = f(u). In this paper we characterize trivializable control systems and control systems for which, up to a feedback transformation, f and ∂f/∂u commute. Characterizations are given in terms of feedback invariants of the system (i...

A method is proposed to automatically extract numerical control rules from the sensor data without the help of experts by means of a Genetic Algorithms(GA) , which add a different bit crossover operator to the standard GA in order to increases the diversity of individuals and reduce the opportunities of falling into local optima. Every generated numerical rule is accumulated in a control table ...

Stabilization of simple mechanical systems in finite time with continuous state feedback is considered here. The dynamics is represented by generalized (local) coordinates. A general methodology to construct control Lyapunov functions that are Hölder continuous and that can be used to show finite-time stability of the feedback controlled system, is presented. This construction also gives the fe...

We consider the problem of achieving disturbance attenuation in the ISS and integral-ISS sense for nonlinear systems using bounded controls. For the ISS case we derive a universal formula which extends an earlier result of Lin and Sontag to systems with disturbances. For the integral-ISS case we give two constructions, one resulting in a smooth control law and the other in a switching control l...