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math.OC2025
Progressive Optimal Path Sampling for Closed-Loop Optimal Control Design with Deep Neural Networks
Xuanxi Zhang, Jihao Long, Wei Hu +2
Closed-loop optimal control design for high-dimensional nonlinear systems has been a long-standing challenge. Traditional methods, such as solving the associated Hamilton-Jacobi-Be…
math.OC2025
Learning Free Terminal Time Optimal Closed-loop Control of Manipulators
Wei Hu, Yue Zhao, Weinan E +2
This paper presents a novel approach to learning free terminal time closed-loop control for robotic manipulation tasks, enabling dynamic adjustment of task duration and control inp…
math.OC2025
Solving Optimal Control Problems of Rigid-Body Dynamics with Collisions Using the Hybrid Minimum Principle
Wei Hu, Jihao Long, Yaohua Zang +2
Collisions are common in many dynamical systems with real applications. They can be formulated as hybrid dynamical systems with discontinuities automatically triggered when states…