In this paper, hybrid impedancehime-delay control is used for a robot to successfully achieve contact tasks without changing a control algorithm or controller gains throughout all three modes: free space, contact transition and constrained motion. In order to absorb impact forces and stabilize the system upon collision with a stiff environment, a nonlinear bang-bang impact controller is develop...

In the article, Tikhonov regularization of control-constrained optimal control problems is investigated. Typically the solutions of such problems exhibit a so-called bang-bang structure. We develop a parameter choice rule that adaptively selects the Tikhonov regularization parameter depending on a-posteriori computable quantities. We prove that this choice leads to optimal convergence rates wit...

abstract this paper presents a multiobjective power control algorithm that updates the transmitted power based on local information. the proposed algorithm is expanded by using multiobjective optimization schemes. the objectives to be optimized in this paper are determined so as to reduce the sinr fluctuations as well as maintaining the sinr to an acceptable level with minimizing an average tra...

The design of robust time-optimal controllers using the sensitivity concept is presented in this paper. A parameter optimization problem is solved using the Switch Time Optimization algorithm to determine a bang-bang control profile that minimizes the maneuver time subject to the constraint that the sensitivity of the final states with respect to system parameters are zero. The proposed approac...

Controlled gliding during descent has been thought of as a crucial intermediate step toward the evolution of powered flight in a variety of animals. Here we develop and analyse a model for the controlled descent of thin bodies in quiescent fluids. Focusing on motion in two dimensions for simplicity, we formulate the question of steering an elliptical body to a desired landing location with a sp...

Time-optimal controls for 2-link robots are often of bang-bang type. Many algorithms to solve timeoptimal robot control problems a-priori assume the optimal control to be bang-bang. Industrial robot,s very often have 5 or 6 links and then the associated time-optimal controls are usually singular. This paper presents a new algorithm that enables computation of both bang-bang and singular time-op...

We consider a general mathematical model for cancer chemotherapy as optimal control problem for a bilinear system and give necessary and sufficient conditions for strong local optimality of bang-bang controls. These results apply to a 3-compartment model which besides a killing agent also includes a recruiting agent, i.e. a drug which acts on the residuum of dormant cells in the cell cycle. For...