19 citations · 40 across the 11 of their papers we have counts for
5 papers · 1 filter
A Sequential Quadratic Programming Approach to the Solution of Open-Loop Generalized Nash Equilibria
Edward L. Zhu, Francesco Borrelli
Dynamic games can be an effective approach to modeling interactive behavior between multiple non-cooperative agents and they provide a theoretical framework for simultaneous predic…
Distributed Learning Model Predictive Control for Linear Systems
Yvonne R. Stürz, Edward L. Zhu, Ugo Rosolia +2
This paper presents a distributed learning model predictive control (DLMPC) scheme for distributed linear time invariant systems with coupled dynamics and state constraints. The pr…
Trajectory Optimization for Nonlinear Multi-Agent Systems using Decentralized Learning Model Predictive Control
Edward L. Zhu, Yvonne R. Stürz, Ugo Rosolia +1
We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coup…
Trajectory Tracking Control of a Flexible Spine Robot, With and Without a Reference Input
Andrew P. Sabelhaus, Shirley Huajing Zhao, Mallory C. Daly +6
The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to develop a flexible, actuated backbone for quadruped robots. In this w…
Model-Predictive Control with Inverse Statics Optimization for Tensegrity Spine Robots
Andrew P. Sabelhaus, Huajing Zhao, Edward L. Zhu +2
Robots with flexible spines based on tensegrity structures have potential advantages over traditional designs with rigid torsos. However, these robots can be difficult to control d…