38 citations · 73 across the 5 of their papers we have counts for
5 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 Feedback Linearization Tracking Control for Nonlinear System with Event-Triggered Model Update
Zhixuan Wu, Rui Yang, Lei Zheng +1
Learning-based methods are powerful in handling complex scenarios. However, it is still challenging to use learning-based methods under uncertain environments while stability, safe…
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…