17 citations · 85 across the 43 of their papers we have counts for
44 papers
Risk-Aware Reward Shaping of Reinforcement Learning Agents for Autonomous Driving
Lin-Chi Wu, Zengjie Zhang, Sofie Haesaert +2
Reinforcement learning (RL) is an effective approach to motion planning in autonomous driving, where an optimal driving policy can be automatically learned using the interaction da…
Decentralised adaptive-gain control for eliminating epidemic spreading on networks
Liam Walsh, Mengbin Ye, Brian D. O. Anderson +1
This paper considers the classical Susceptible--Infected--Susceptible (SIS) network epidemic model, which describes a disease spreading through nodes, with the network links go…
A port-Hamiltonian framework for displacement-based and rigid formation tracking
Ningbo Li, Zhiyong Sun, Arjan van der Schaft +1
This paper proposes a passivity-based port-Hamiltonian (pH) framework for multi-agent displacement-based and rigid formation control and velocity tracking. The control law consists…
Moving Obstacle Collision Avoidance via Chance-Constrained MPC with CBF
Ming Li, Zhiyong Sun, Zirui Liao +1
Model predictive control (MPC) with control barrier functions (CBF) is a promising solution to address the moving obstacle collision avoidance (MOCA) problem. Unlike MPC with dista…
Automated Formation Control Synthesis from Temporal Logic Specifications
Shuhao Qi, Zengjie Zhang, Sofie Haesaert +1
In many practical scenarios, multi-robot systems are envisioned to support humans in executing complicated tasks within structured environments, such as search-and-rescue tasks. We…
A time-varying matrix solution to the Brockett decentralized stabilization problem
Zhiyong Sun
This paper proposes a time-varying matrix solution to the Brockett stabilization problem. The key matrix condition shows that if the system matrix product is a Hurwitz H-matri…
A note on real similarity to a diagonal dominant matrix
Zhiyong Sun, Brian D. O. Anderson, Wei Chen
This note presents several conditions to characterize real matrix similarity between a Hurwitz matrix (and then more generally, a real square matrix) and a diagonal dominant matrix…
A Novel Vector-Field-Based Motion Planning Algorithm for 3D Nonholonomic Robots
Xiaodong He, Weijia Yao, Zhiyong Sun +1
This paper focuses on the motion planning for mobile robots in 3D, which are modelled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the…
Guiding vector fields for the distributed motion coordination of mobile robots
Weijia Yao, Hector Garcia de Marina, Zhiyong Sun +1
We propose coordinating guiding vector fields to achieve two tasks simultaneously with a team of robots: first, the guidance and navigation of multiple robots to possibly different…
Leveraging second-order information for tuning of inverse optimal controllers
Taouba Jouini, Zhiyong Sun, Venkatraman Renganathan
We leverage second-order information for tuning of inverse optimal controllers for a class of discrete-time nonlinear input-affine systems. For this, we select the input penalty ma…
Cooperative constrained motion coordination of networked heterogeneous vehicles
Zhiyong Sun, Marcus Greiff, Anders Robertsson +2
We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints,…
Quadrotor Control on with SLAM Integration
Marcus Greiff, Patrik Persson, Zhiyong Sun +2
We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on , and relate this result to a family of geometric tracking…
Distributed adaptive stabilization
Zhiyong Sun, Anders Rantzer, Zhongkui Li +1
In this paper we consider distributed adaptive stabilization for uncertain multivariable linear systems with a time-varying diagonal matrix gain. We show that uncertain multivariab…
Distributed coordinated path following using guiding vector fields
Weijia Yao, Hector Garcia de Marina, Zhiyong Sun +1
It is essential in many applications to impose a scalable coordinated motion control on a large group of mobile robots, which is efficient in tasks requiring repetitive execution,…
Grid-forming lambda-omega virtual oscillator control in converter-based power systems
Taouba Jouini, Emma Tegling, Zhiyong Sun
Inspired by the kinetics of wave phenomena in reaction-diffusion models of biological systems, we propose a novel grid-forming control strategy for control of three-phase DC/AC con…
Collaborative Target Tracking in Elliptic Coordinates: a Binocular Coordination Approach
Yuan Chang, Zhiyong Sun, Han Zhou +3
This paper concentrates on the collaborative target tracking control of a pair of tracking vehicles with formation constraints. The proposed controller requires only distance measu…
On global convergence of area-constrained formations of hierarchical multi-agent systems
Toshiharu Sugie, Fei Tong, Brian D. O. Anderson +1
This paper is concerned with a formation shaping problem for point agents in a two-dimensional space, where control avoids the possibility of reflection ambiguities. One solution f…
Distributed learning for optimal allocation of synchronous and converter-based generation
Taouba Jouini, Zhiyong Sun
Motivated by the penetration of converter-based generation into the electrical grid, we revisit the classical log-linear learning algorithm for optimal allocation {of synchronous m…
Steady state characterization and frequency synchronization of a multi-converter power system on high-order manifolds
Taouba Jouini, Zhiyong Sun
We investigate the stability properties of a multi-converter power system model, defined on a high-order manifold. For this, we identify its symmetry (i.e., rotational invariance)…
Performance analysis and optimization of power systems with spatially correlated noise
Taouba Jouini, Zhiyong Sun
Based on stochastic differential equations (SDEs), we analyse the overall performance of heterogeneous power systems network, subject to spatially distributed and correlated noise…
Optimal control of nonlinear systems with unsymmetrical input constraints and its applications to the UAV circumnavigation problem
Yangguang Yu, Xiangke Wang, Zhiyong Sun +1
In this paper, a novel design scheme is introduced to solve the optimal control problem for nonlinear systems with unsymmetrical and state-dependent input constraints. By introduci…
Distributed Computation of Graph Matching in Multi-Agent Networks
Quoc Van Tran, Zhiyong Sun, Brian D. O. Anderson +1
This work considers the distributed computation of the one-to-one vertex correspondences between two undirected and connected graphs, which is called \textit{graph matching}, over…
Event triggering control for dynamical systems with designable minimum inter-event time
Xing Chu, Na Huang, Zhiyong Sun
This paper presents a class of event-triggering rules for dynamical control systems with guaranteed positive minimum inter-event time (MIET). We first propose an event-based functi…
Hybrid distance-angle rigidity theory with signed constraints and its applications to formation shape control
Seong-Ho Kwon, Zhiyong Sun, Brian D. O. Anderson +1
In this paper, we develop a hybrid distance-angle rigidity theory that involves heterogeneous distances (or unsigned angles) and signed constraints for a framework in the 2-D and 3…