38 citations · 55 across the 4 of their papers we have counts for
4 papers
Learning-based Predictive Path Following Control for Nonlinear Systems Under Uncertain Disturbances
Rui Yang, Lei Zheng, Jiesen Pan +1
Accurate path following is challenging for autonomous robots operating in uncertain environments. Adaptive and predictive control strategies are crucial for a nonlinear robotic sys…
Safe Learning-based Gradient-free Model Predictive Control Based on Cross-entropy Method
Lei Zheng, Rui Yang, Zhixuan Wu +2
In this paper, a safe and learning-based control framework for model predictive control (MPC) is proposed to optimize nonlinear systems with a non-differentiable objective function…
Learning-Based Safety-Stability-Driven Control for Safety-Critical Systems under Model Uncertainties
Lei Zheng, Jiesen Pan, Rui Yang +2
Safety and tracking stability are crucial for safety-critical systems such as self-driving cars, autonomous mobile robots, industrial manipulators. To efficiently control safety-cr…
Safe Learning-based Tracking Control for Quadrotors under Wind Disturbances
Lei Zheng, Rui Yang, Jiesen Pan +1
Enforcing safety on precise trajectory tracking is critical for aerial robotics subject to wind disturbances. In this paper, we present a learning-based safety-preserving cascaded…