Mechanical Engineering Commons^™

Convexity Applications In Single And Multi-Agent Control, Olli Nikodeemus Jansson

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

The focus of this dissertation is in the application of convexity for control problems; specifically, single-agent problems with linear or nonlinear dynamics and multi-agent problems with linear dynamics. A mixture of convex and non-convex constraints for optimal control problems is also considered. The main contributions of this dissertation include: 1) a convexification of single-agent problems with linear dynamics and annular control constraint, 2) a technique for controlling bounded nonlinear single-agent systems, and 3) a technique for solving multi-agent pursuit-evasion games with linear dynamics and convex control and state constraints. The first result shows that for annularly constrained linear systems, controllability …