The problem associated with trajectory generation for a car-like robot (CLR) moving from an initial configuration to any final configuration is studied in this paper. The aim of our research is to achieve energy-optimal solution to the problem of trajectory generation. Based on bang-bang control theory, the necessary condition for energy-optimal trajectory generation is studied. Based on steeri...

A unified, systematic controller design procedure is introduced for the class of linear time invariant systems with use both continuous and bang-bang control effectors. The sampled-data regulator weighting matrices and cost function are extended to this class of system, and modulates the bangbang effector to achieve desired performance levels. Controller synthesis is illustrated for a generic s...

The past decade has seen a variety of operating modifications for Simulated Moving Bed (SMB) processes, including Three-Zone, VARICOL, and PowerFeed. In recent studies, we have shown that these can all be embedded within a superstructure optimization problem with timevariant flow rates. Moreover, the resulting dynamic optimization problem has yielded a number of interesting and useful insights ...

The problem of maintaining acceptable performance of a perturbed control system under conditions of feedback failure is considered. The objective is to maximize the time during which performance remains within desirable bounds without feedback, given that the parameters of the controlled system are within a specified neighborhood of their nominal values. It is shown that there is an optimal ope...

At present, many metropolitan sewer systems do not meet existing and proposed standards on water pollution. Existing systems were designed to overflow at prescribed locations in order to protect the sewage treatment plants whenever severe overload conditions exist (usually during storms). This discharge of untreated overflows into natural receiving waters is of growing concern to water pollutio...

We investigate the simultaneous regularization and discretization of an optimal control problem with pointwise control constraints. Typically such problems exhibit bang-bang solutions: the optimal control almost everywhere takes values at the control bounds. We derive discretization error estimates that are robust with respect to the regularization parameter. These estimates can be used to make...

In this paper, a new numerical method is presented for solving the optimal control problems of Bang-Bang type with free or fixed terminal time. The method is based on Bezier polynomials which are presented in any interval as $[t_0,t_f]$. The problems are reduced to a constrained problems which can be solved by using Lagrangian method. The constraints of these problems are terminal state and con...