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Maximizing ollie height by optimizing control strategy and skateboard geometry using direct collocation

Heinen, Jan T. (author), Brockie, S.G. (author), ten Broek, Raymund (author), van der Kruk, E. (author), Moore, J.K. (author)

The ollie is the base aerial human–board maneuver, foundational to most modern skateboarding tricks. We formulate and solve an optimal control problem of a two-dimensional simplified human model and a rigid body skateboard with the objective of maximizing the height of the ollie. Our solution simultaneously discovers realistic human-applied...

journal article 2024

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End-to-end neural network based optimal quadcopter control

Ferede, R. (author), de Croon, G.C.H.E. (author), de Wagter, C. (author), Izzo, Dario (author)

Developing optimal controllers for aggressive high-speed quadcopter flight poses significant challenges in robotics. Recent trends in the field involve utilizing neural network controllers trained through supervised or reinforcement learning. However, the sim-to-real transfer introduces a reality gap, requiring the use of robust inner loop...

journal article 2024

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Biased-MPPI: Informing Sampling-Based Model Predictive Control by Fusing Ancillary Controllers

Trevisan, E. (author), Alonso-Mora, J. (author)

Motion planning for autonomous robots in dynamic environments poses numerous challenges due to uncertainties in the robot's dynamics and interaction with other agents. Sampling-based MPC approaches, such as Model Predictive Path Integral (MPPI) control, have shown promise in addressing these complex motion planning problems. However, the...

journal article 2024

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A novel viral infection model to guide optimal mpox treatment

de Jong, M.N. (author), Campana, Francesca Cala (author), Li, Pengfei (author), Pan, Qiuwei (author), Giordano, G. (author)

In 2022, worldwide mpox outbreaks have called attention to mpox virus infection and treatment opportunities using the drugs cidofovir and tecovirimat, which target different stages of in-host viral proliferation, respectively production and shedding. We propose a new model of in-host viral infection dynamics that distinguishes between the two...

journal article 2023

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Optimal Trajectory Planning for Mitigated Motion Sickness: Simulator Study Assessment

Jain, V. (author), Kumar, Sandeep Suresh (author), Papaioannou, G. (author), Happee, R. (author), Shyrokau, B. (author)

In the transition from partial to high automation, occupants will no longer be actively involved in driving. This will allow the use of travel time for work or leisure, where high comfort levels preventing motion sickness are required. In this paper, an optimal trajectory planning algorithm is presented in order to minimise motion sickness in...

journal article 2023

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Nonlinear model predictive control for improving range-based relative localization by maximizing observability

Li, S. (author), de Wagter, C. (author), de Croon, G.C.H.E. (author)

Wireless ranging measurements have been proposed for enabling multiple Micro Air Vehicles (MAVs) to localize with respect to each other. However, the high-dimensional relative states are weakly observable due to the scalar distance measurement. Hence, the MAVs have degraded relative localization and control performance under unobservable...

journal article 2022

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Integrated nonlinear model predictive control for automated driving

Chowdhri, Nishant (author), Ferranti, L. (author), Santafé Iribarren, Felipe (author), Shyrokau, B. (author)

This work presents a Nonlinear Model Predictive Control (NMPC) scheme to perform evasive maneuvers and avoid rear-end collisions. Rear-end collisions are among the most common road fatalities. To reduce the risk of collision, it is necessary for the controller to react as quickly as possible and exploit the full vehicle maneuverability (i.e.,...

journal article 2021

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Hidden invariant convexity for global and conic-intersection optimality guarantees in discrete-time optimal control

Baayen, Jorn H. (author), Postek, K.S. (author)

Non-convex discrete-time optimal control problems in, e.g., water or power systems, typically involve a large number of variables related through nonlinear equality constraints. The ideal goal is to find a globally optimal solution, and numerical experience indicates that algorithms aiming for Karush–Kuhn–Tucker points often find solutions...

journal article 2021

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Climate impact mitigation potential of European air traffic in a weather situation with strong contrail formation

Lührs, Benjamin (author), Linke, Florian (author), Matthes, Sigrun (author), Grewe, V. (author), Yin, F. (author)

Air traffic contributes to anthropogenic global warming by about 5% due to CO₂ emissions and non-CO₂ effects, which are primarily caused by the emission of NO_x and water vapor as well as the formation of contrails. Since-in the long term-the aviation industry is expected to maintain its trend to grow,...

journal article 2021

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Computational reduction of optimal hybrid vehicle energy management

Armenta, Carlos (author), Delprat, Sebastien (author), Negenborn, R.R. (author), Haseltalab, A. (author), Lauber, Jimmy (author), Dambrine, Michel (author)

Pontryagin’s Minimum Principle is a way of solving hybrid powertrain optimal energy management. This paper presents an improvement of a classical implementation. The core of this improvement consists in relaxing the tolerance on some intermediate steps of the algorithm in order to reduce the number of iterations and thereby reducing the...

journal article 2021

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Comparative study of SBOAs on the tuning procedure of the designed SMPI controller for MIMO VSP/HVDC interconnected model

Rakhshani, E. (author), Naveh, Iman Mohammad Hosseini (author), Mehrjerdi, Hasan (author)

This paper presents a new application of advanced SMPI controller for a newly introduced interconnected dynamic system with VSP based HVDC links for frequency control problem. This work presents an outgrowth of analysis about the Swarm – Based Optimization Algorithms (SBOAs) in the tuning process of Multivariable Proportional – Integral (MPI)...

journal article 2021

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Assessing Energy Storage Requirements Based on Accepted Risks

Evans, Michael (author), Tindemans, Simon H. (author)

This paper presents a framework for deriving the storage capacity that an electricity system requires in order to satisfy a chosen risk appetite. The framework takes as inputs user-defined event categories, parameterised by peak power-not-served, acceptable number of events per year and permitted probability of exceeding these constraints, and...

conference paper 2020

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A generalized approach to operational, globally optimal aircraft mission performance evaluation, with application to direct lift control

de Wringer, Sam (author), Varriale, Carmine (author), Oliviero, F. (author)

A unified approach to aircraft mission performance assessment is presented in this work. It provides a detailed and flexible formulation to simulate a complete commercial aviation mission. Based on optimal control theory, with consistent injection of rules and procedures typical of aeronautical operations, it relies on generalized...

journal article 2020

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Optimal running time supplement distribution in train schedules for energy-efficient train control

Scheepmaker, G.M. (author), Pudney, Peter J. (author), Albrecht, Amie R. (author), Goverde, R.M.P. (author), Howlett, Phil G. (author)

Energy-efficient train driving can lead to a significant reduction in both CO₂ emissions and energy consumption. A lot of research has been done on the topic of energy-efficient train control that minimizes total traction energy consumption. Furthermore, the running time supplements in the timetable determine the possibilities for...

journal article 2020

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Online trajectory planning and control of a MAV payload system in dynamic environments

Potdar, N.D. (author), de Croon, G.C.H.E. (author), Alonso-Mora, J. (author)

Micro Aerial Vehicles (MAVs) can be used for aerial transportation in remote and urban spaces where portability can be exploited to reach previously inaccessible and inhospitable spaces. Current approaches for path planning of MAV swung payload system either compute conservative minimal-swing trajectories or pre-generate agile collision-free...

journal article 2020

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Two-dimensional vehicular movement modelling at intersections based on optimal control

Zhao, J. (author), Knoop, V.L. (author), Wang, Z. (author)

Modeling traffic flow at intersections is essential for the design, control, and management of intersections. A challenging feature of microscopic modeling vehicular movement at intersections is that drivers can choose among an infinite number of alternative traveling paths and speeds. This makes it fundamentally different from structured...

journal article 2020

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Optimal energy management for hybrid-electric aircraft

Soares Pinto Leite, J.P. (author), Voskuijl, M. (author)

Purpose: In recent years, increased awareness on global warming effects led to a renewed interest in all kinds of green technologies. Among them, some attention has been devoted to hybrid-electric aircraft – aircraft where the propulsion system contains power systems driven by electricity and power systems driven by hydrocarbon-based fuel....

journal article 2020

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Challenges in simulating advanced control methods for AO

Piscaer, P.J. (author), Soloviev, O.A. (author), Verhaegen, M.H.G. (author)

This paper discusses various practical problems arising in the design and simulation of predictive control methods for adaptive optics. Although there has been increased attention towards optimal prediction and control methods for AO systems, they are often tested in simplified simulation environments. The use of advanced AO simulators...

conference paper 2020

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Optimal controller/observer gains of discounted-cost LQG systems

Bijl, H.J. (author), Schön, Thomas B. (author)

The linear–quadratic-Gaussian (LQG) control paradigm is well-known in literature. The strategy of minimizing the cost function is available, both for the case where the state is known and where it is estimated through an observer. The situation is different when the cost function has an exponential discount factor, also known as a prescribed...

journal article 2019

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Policy derivation methods for critic-only reinforcement learning in continuous spaces

Alibekov, Eduard (author), Kubalik, Jiri (author), Babuska, R. (author)

This paper addresses the problem of deriving a policy from the value function in the context of critic-only reinforcement learning (RL) in continuous state and action spaces. With continuous-valued states, RL algorithms have to rely on a numerical approximator to represent the value function. Numerical approximation due to its nature virtually...

journal article 2018