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Solving Multiobjective Optimal Control Problems with Optimality-Informed Neural Networks 用最优通知神经网络求解多目标最优控制问题
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.012
M.K. Hoffmann, M. Herrmann-Wicklmayr, A. Othmane, K. Flaßkamp
{"title":"Solving Multiobjective Optimal Control Problems with Optimality-Informed Neural Networks","authors":"M.K. Hoffmann,&nbsp;M. Herrmann-Wicklmayr,&nbsp;A. Othmane,&nbsp;K. Flaßkamp","doi":"10.1016/j.ifacol.2026.09.012","DOIUrl":"10.1016/j.ifacol.2026.09.012","url":null,"abstract":"<div><div>Optimal control problems become parametric when their constraints or dynamics depend on external parameters. Multiple objectives require a multiobjective formulation, and scalarizing it introduces further parametric dependencies. We propose a grid-free method to model the mapping from parameters to optimal solutions. Using few training samples, we obtain a neural network by combining (i) a KKT-residual loss penalizing first-order optimality violations under standard constraint qualifications, (ii) problem-specific output activations that enforce simple constraints by construction, and (iii) single-shooting-like state simulations within the network. On a trajectory-generation case study with a moving obstacle and competing objectives, the method generalizes to unseen parameters, attaining lower primal error and fewer constraint violations than interpolation and penalty-based training, and recovers the dual variables.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 67-72"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125320","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Data-Driven Stabilizing Controller Design for Linear infinite Networks⁎ 线性无限网络的数据驱动稳定控制器设计
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.016
Mahdieh Zaker, Andrii Mironchenko, Amy Nejati, Abolfazl Lavaei
{"title":"Data-Driven Stabilizing Controller Design for Linear infinite Networks⁎","authors":"Mahdieh Zaker,&nbsp;Andrii Mironchenko,&nbsp;Amy Nejati,&nbsp;Abolfazl Lavaei","doi":"10.1016/j.ifacol.2026.09.016","DOIUrl":"10.1016/j.ifacol.2026.09.016","url":null,"abstract":"<div><div>We propose a direct data-driven method for controller synthesis of infinite networks composed of unknown linear time-invariant subsystems. Using a single set of noise-corrupted input-state trajectories collected from each subsystem, and provided that certain linear matrix inequalities hold, each subsystem is rendered exponentially input-to-state stable (eISS) by locally constructing an eISS control Lyapunov function together with an exponentially input-to-state stabilizing feedback controller. We then compose these local components under a compositional small-gain condition in infinite-dimensional spaces to obtain a global control Lyapunov function and an associated stabilizing controller, ensuring uniform global exponential stability of the infinite network. The approach is validated on a physical case study with unknown dynamics.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 91-96"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Virtual Sensing for Diffusion Processes via the Sylvester Matrix Equation⁎ 基于Sylvester矩阵方程的扩散过程虚拟传感
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.036
Matthew Harker
{"title":"Virtual Sensing for Diffusion Processes via the Sylvester Matrix Equation⁎","authors":"Matthew Harker","doi":"10.1016/j.ifacol.2026.09.036","DOIUrl":"10.1016/j.ifacol.2026.09.036","url":null,"abstract":"<div><div>In this paper, we develop a new numerical algorithm for solving an inverse heat conduction problem from sparse localised temperature or concentration measurements. From noisy temperature measurements over time, the integral surface is reconstructed as a global least-squares fit to the measurement data while applying only a smoothness regularization criterion on the estimated initial heat distribution. The new approach is to use the Sylvester matrix equation to solve the associated PDE, which yields an O (n<sup>3</sup>) algorithm, as opposed to the classic vector equation approaches to solving PDE, which are typically O(n<sup>6</sup>). The method provides a consistent numerical approximation to the continuous problem, and thereby eliminates any need to estimate or calculate probability distributions or analytic solutions to the diffusion equations. From the reconstructed integral surface in matrix form, virtual sensors for temperature, heat flux, etc., are obtained via linear operations, whereby the covariance propagation through the entire process is derived in order to provide confidence intervals about the virtual measurements. The method is shown to recover significant structure of the initial distribution from a single sensor, and is thereby well suited to the virtual sensing task.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 211-216"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125419","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Optimization-based One-side Boundary Control of LWR traffic Models 基于优化的轻轨交通模型单边边界控制
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.014
Eryn Vaid, Maria Teresa Chiri, Roberto Guglielmi, Gennaro Notomista
{"title":"Optimization-based One-side Boundary Control of LWR traffic Models","authors":"Eryn Vaid,&nbsp;Maria Teresa Chiri,&nbsp;Roberto Guglielmi,&nbsp;Gennaro Notomista","doi":"10.1016/j.ifacol.2026.09.014","DOIUrl":"10.1016/j.ifacol.2026.09.014","url":null,"abstract":"<div><div>In this paper, we study the feasibility of a class of optimization-based boundary control of one-dimensional macroscopic traffic flow models, where stability and invariance are achieved by a single boundary control. We define the sets of controllers to stabilize the system to a desired state via Lyapunov functionals, and to ensure forward invariance of a desired subset via boundary control barrier functionals. The control input is then selected from the intersection of those sets via a convex optimization problem. We determine sufficient conditions to ensure the existence of an optimal boundary control problem achieving both stability and invariance for a generic traffic flux function. Simulation results showcase the behavior of the proposed optimization-based controller applied to conservation laws with several traffic flow functions.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 79-84"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125427","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Direct Optimal Control of Second Order Mechanical State Space Systems⁎ 二阶机械状态空间系统的直接最优控制
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.025
Matthew Harker, Johannes Handler, Gerhard Rath
{"title":"Direct Optimal Control of Second Order Mechanical State Space Systems⁎","authors":"Matthew Harker,&nbsp;Johannes Handler,&nbsp;Gerhard Rath","doi":"10.1016/j.ifacol.2026.09.025","DOIUrl":"10.1016/j.ifacol.2026.09.025","url":null,"abstract":"<div><div>In this paper, we derive a new numerical method for the solution of systems of second order ordinary differential equations, as well as the boundary value problems that arise in the optimal control of such systems. Systems of second order arise generally in mechanics, and are critical to problems in robotics, structural dynamics, and distributed parameter systems. Typically though, second order systems are transformed into systems of first order ordinary differential equations so that Runge-Kutta methods and allied methods can be invoked. The justification given for this is that first order system are more stable to solve numerically. The new algorithm, however, is shown to be stable, principally due to the proposed matrix-based approach, whereby the solution to the boundary value problems of optimal control are solved at all points simultaneously. The method is demonstrated by solving the optimal control problem of multiple pendulums of differing lengths on a single cart.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 145-150"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125455","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Convex Optimization Framework for Stabilization and Invariance of a Wave Equation with Integral Action 具有积分作用的波动方程的稳定性和不变性的凸优化框架
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.013
Ling Ma, Roberto Guglielmi
{"title":"A Convex Optimization Framework for Stabilization and Invariance of a Wave Equation with Integral Action","authors":"Ling Ma,&nbsp;Roberto Guglielmi","doi":"10.1016/j.ifacol.2026.09.013","DOIUrl":"10.1016/j.ifacol.2026.09.013","url":null,"abstract":"<div><div>This paper develops a Lyapunov-based pointwise convex optimization framework for boundary control of a 1-D wave equation and its cascade with an integral-action ODE under magnitude-bounded actuation. For the wave equation, a parameterized Lyapunov functional yields an explicit dissipation inequality, an explicit stabilizing input interval, and a unique minimum-norm input computed online by solving a pointwise convex quadratic program. A barrier functional enforces forward invariance of an energy-based safe set, and actuator bounds are incorporated by interval intersection. For the cascade, a forwarding coordinate motivates a projection-based boundary feedback that preserves invariance and yields conditional asymptotic stabilization of the cascade under an online feasibility condition.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 73-78"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125327","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Scalable EM for High-Dimensional State Space Models via Krylov Methods⁎ 基于Krylov方法的高维状态空间模型的可伸缩EM研究
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.004
Jaafar Almutawa
{"title":"Scalable EM for High-Dimensional State Space Models via Krylov Methods⁎","authors":"Jaafar Almutawa","doi":"10.1016/j.ifacol.2026.09.004","DOIUrl":"10.1016/j.ifacol.2026.09.004","url":null,"abstract":"<div><div>The Expectation-Maximization algorithm is fundamental for parameter estimation in state space models but becomes computationally intractable for high-dimensional systems due to cubic-complexity matrix operations. We develop a scalable variant that replaces direct linear solves with iterative Krylov subspace methods, achieving quadratic complexity per iteration. We establish convergence to stationary points under summable tolerance conditions, extending classical EM theory to accommodate controlled approximation errors. An adaptive tolerance schedule automatically adjusts solver precision as convergence progresses, requiring no problem-specific tuning. Warm-starting from previous iterates yields substantial computational savings. Experiments on high-dimensional tracking problems demonstrate order-of-magnitude speedups while preserving solution accuracy to machine precision.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 19-24"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125420","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Conditions for Complete Decentralization of the Linear Quadratic Regulator 线性二次型调节器完全分散的条件
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.024
Addie McCurdy, Isabel Collins, Emily Jensen
{"title":"Conditions for Complete Decentralization of the Linear Quadratic Regulator","authors":"Addie McCurdy,&nbsp;Isabel Collins,&nbsp;Emily Jensen","doi":"10.1016/j.ifacol.2026.09.024","DOIUrl":"10.1016/j.ifacol.2026.09.024","url":null,"abstract":"<div><div>An optimal control policy is completely decentralized if computing actuation for each subsystem only requires information directly available to its own subcontroller. Parameters that admit a completely decentralized optimal controller have been characterized in a variety of systems, but attempts to physically explain the phenomenon have been limited. As a step toward a general characterization of complete decentralization, this paper presents conditions for complete decentralization of Linear Quadratic Regulators for several simple cases and physically interprets these conditions with illustrative examples.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 139-144"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125454","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
The Dynamic Search for the Minimal Dynamic Extension 最小动态扩展的动态搜索
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.006
Rollen S. D’Souza
{"title":"The Dynamic Search for the Minimal Dynamic Extension","authors":"Rollen S. D’Souza","doi":"10.1016/j.ifacol.2026.09.006","DOIUrl":"10.1016/j.ifacol.2026.09.006","url":null,"abstract":"<div><div>Identifying the dynamic precompensator that renders a nonlinear control system feedback linearizable is a challenging problem. Researchers have explored the problem — dynamic feedback linearization — and produced existence conditions and constructive procedures for the dynamic precompensator. These remain, in general, either computationally expensive or restrictive. Treating the challenge as intrinsic, this article views the problem as a search problem over a category. Dynamic programming applies and, upon restriction to a finite category, classic search algorithms find the minimal dynamic extension. Alternatively, a heuristic aiming towards feedback linearizable systems can be employed to select amongst the infinitely-many extensions. This framing provides a distinctive, birds-eye view of the search for the dynamic precompensator.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 31-36"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125426","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Discretization of the Burgers’ equation as a port-Hamiltonian system Burgers方程作为port- hamilton系统的离散化
IFAC-PapersOnLine Pub Date : 2026-01-01 Epub Date: 2026-10-09 DOI: 10.1016/j.ifacol.2026.09.019
Lorenzo Agostini, Michel Fournié, Ghislain Haine
{"title":"Discretization of the Burgers’ equation as a port-Hamiltonian system","authors":"Lorenzo Agostini,&nbsp;Michel Fournié,&nbsp;Ghislain Haine","doi":"10.1016/j.ifacol.2026.09.019","DOIUrl":"10.1016/j.ifacol.2026.09.019","url":null,"abstract":"<div><div>The numerical simulation of the inviscid Burgers’ equation is often hindered by spurious oscillations near discontinuities. To mitigate this issue, a viscous term can be introduced, leading to the viscous Burgers’ equation. In this work, port-Hamiltonian formulations for both the inviscid and the viscous Burgers’ equations are proposed, enabling a representation that incorporates both convective and dissipative effects. Boundary control and observation are naturally handled within this framework. Applying a dedicated finite element method, a finite-dimensional port-Hamiltonian system is derived. The relationship between time step, spatial resolution, and viscosity required to achieve numerical stability is analyzed. Numerical experiments validate the effectiveness of the approach.</div></div>","PeriodicalId":37894,"journal":{"name":"IFAC-PapersOnLine","volume":"60 1","pages":"Pages 109-114"},"PeriodicalIF":0.0,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"149125432","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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