System and method for controlling an operation of a machine including at least one actuator

A method for controlling an operation of a machine including at least one actuator, the method comprising:

• obtaining a time period of an operation of the at least one actuator;
• collecting an energy level of the at least one actuator, wherein the energy level of the at least one actuator corresponds to a difference between a current state and a desired state of the at least one actuator;
• determining values of one or more hyperparameters of a time bound function such that a value of the time bound function is greater than or equal to the time period of the operation of the at least one actuator;
• solving an optimal control problem optimizing a cost function of the operation of the at least one actuator using an adaptive gradient descent method, wherein the adaptive gradient descent method is initialized with the collected energy level and a constant defined based on the values of one or more hyperparameters, and wherein the adaptive gradient descent method includes a varying step size selected based on a derivative of an energy function of the optimal control problem defined such that the derivative of the energy function of the optimal control problem is negative definite and polynomially decreasing;
• and
• controlling the at least one actuator based on the solution of the optimal control problem.

A non-transitory computer-readable storage medium embodied thereon a program executable by a processor for performing a method for controlling an operation of a machine including at least one actuator, the method comprising:

• obtaining a time period of an operation of the at least one actuator;
• collecting an energy level of the at least one actuator, wherein the energy level of the at least one actuator corresponds to a difference between a current state and a desired state of the at least one actuator;
• determining values of one or more hyperparameters of a time bound function such that a value of the time bound function is greater than or equal to the time period of the operation of the at least one actuator;
• solving an optimal control problem optimizing a cost function of the operation of the at least one actuator using an adaptive gradient descent method, wherein the adaptive gradient descent method is initialized with the collected energy level and a constant defined based on the values of one or more hyperparameters, and wherein the adaptive gradient descent method includes a varying step size selected based on a derivative of an energy function of the optimal control problem defined such that the derivative of the energy function of the optimal control problem is negative definite and polynomially decreasing;
• and
• controlling the at least one actuator based on the solution of the optimal control problem.