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Optimization Strategies for Constrained Control Systems and Robotic Networks

By Ph. D. Advisor, Prof Ruggero Frezza, Ph. D. Co-advisor, Prof John Hauser, Ph. D. Co-advisor and Prof Francesco Bullo


come entrare nelle forze aeree speciali, lanciarsi nello spazio o attraversare a piedi il Polo Sud – o esplorare nuove idee, creare forme d’arte, inventare nuove tecnologie, di conseguenza cambiare lo stile di vita di noi tutti. 1 Desmond Morris 1 Unfortunately, I was not able to find the English version of this sentence and I did In the first part of the work we develop a strategy to compute feasible trajectories of state-input constrained nonlinear control systems. This strategy is interesting itself in understanding the behavior of the system, especially in critical conditions, and represents a useful tool that can be used, in a receding horizon scheme, to perform trajectory tracking in presence of constraints. The strategy is based on a novel optimization technique, introduced by Hauser, to find a regularized solution for pointwise constraine

Year: 2013
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