If there's no orders in place, there's no arrangements that the kids can be 'forced' to comply with. Even if there were orders, they're enforceable by the Court, not by DHS, so I guess the simple answer is 'no'.
DHS do, however, have some powers with respect to care for children under their protection. For example, if the child is taken from the mother and there's nothing stopping them from being placed with the father, then DHS may place them into the care of the father accordingly.