38 citations · 86 across the 30 of their papers we have counts for
32 papers
Deep Reinforcement Learning-Enhanced Event-Triggered Data-Driven Predictive Control for a 3D Cable-Driven Soft Robotic Arm
Cheng Ouyang, Moeen Ul Islam, Kaixiang Zhang +3
Soft robots are challenging to control due to their nonlinear and time-varying dynamics. Data-enabled predictive control (DeePC) offers a model-free alternative by directly leverag…
A Modular Dual-Arm Apple Harvesting Robot with Enhanced Field Performance
Keyi Zhu, Kyle Lammers, Chaaran Arunachalam +3
Robotic apple harvesting offers a promising solution to labor shortages in commercial orchards, but low throughput and poor performance in orchard environments hinder its commercia…
Learning-based data-enabled economic predictive control with convex optimization for nonlinear systems
Mingxue Yan, Xuewen Zhang, Kaixiang Zhang +2
In this article, we propose a data-enabled economic predictive control method for a class of nonlinear systems, which aims to optimize the economic operational performance while ha…
Distributed Platoon Control Under Quantization: Stability Analysis and Privacy Preservation
Kaixiang Zhang, Zhaojian Li, Wei Lin
Distributed control of connected and automated vehicles has attracted considerable interest for its potential to improve traffic efficiency and safety. However, such control scheme…
Velocity-Form Data-Enabled Predictive Control of Soft Robots under Unknown External Payloads
Huanqing Wang, Kaixiang Zhang, Kyungjoon Lee +5
Data-driven control methods such as data-enabled predictive control (DeePC) have shown strong potential in efficient control of soft robots without explicit parametric models. Howe…
Direct Data-Driven Predictive Control for a Three-dimensional Cable-Driven Soft Robotic Arm
Cheng Ouyang, Moeen Ul Islam, Dong Chen +3
Soft robots offer significant advantages in safety and adaptability, yet achieving precise and dynamic control remains a major challenge due to their inherently complex and nonline…
Advancement and Field Evaluation of a Dual-arm Apple Harvesting Robot
Keyi Zhu, Kyle Lammers, Kaixiang Zhang +5
Apples are among the most widely consumed fruits worldwide. Currently, apple harvesting fully relies on manual labor, which is costly, drudging, and hazardous to workers. Hence, ro…
Economic data-enabled predictive control using machine learning
Mingxue Yan, Xuewen Zhang, Kaixiang Zhang +2
In this paper, we propose a convex data-based economic predictive control method within the framework of data-enabled predictive control (DeePC). Specifically, we use a neural netw…
Safe Data-Driven Predictive Control
Amin Vahidi-Moghaddam, Kaian Chen, Kaixiang Zhang +3
In the realm of control systems, model predictive control (MPC) has exhibited remarkable potential; however, its reliance on accurate models and substantial computational resources…
Data-Enabled Neighboring Extremal: Case Study on Model-Free Trajectory Tracking for Robotic Arm
Amin Vahidi-Moghaddam, Keyi Zhu, Kaixiang Zhang +2
Data-enabled predictive control (DeePC) has recently emerged as a powerful data-driven approach for efficient system controls with constraints handling capabilities. It performs op…
Model-free Vehicle Rollover Prevention: A Data-driven Predictive Control Approach
Mohammad R. Hajidavalloo, Kaixiang Zhang, Vaibhav Srivastava +1
Vehicle rollovers pose a significant safety risk and account for a disproportionately high number of fatalities in road accidents. This paper addresses the challenge of rollover pr…
Data-Enabled Predictive Control for Flexible Spacecraft
Huanqing Wang, Kaixiang Zhang, Amin Vahidi-Moghaddam +4
Spacecraft are vital to space exploration and are often equipped with lightweight, flexible appendages to meet strict weight constraints. These appendages pose significant challeng…
Foundation Model-Based Apple Ripeness and Size Estimation for Selective Harvesting
Keyi Zhu, Jiajia Li, Kaixiang Zhang +4
Harvesting is a critical task in the tree fruit industry, demanding extensive manual labor and substantial costs, and exposing workers to potential hazards. Recent advances in auto…
Deep DeePC: Data-enabled predictive control with low or no online optimization using deep learning
Xuewen Zhang, Kaixiang Zhang, Zhaojian Li +1
Data-enabled predictive control (DeePC) is a data-driven control algorithm that utilizes data matrices to form a non-parametric representation of the underlying system, predicting…
Online Reduced-Order Data-Enabled Predictive Control
Amin Vahidi-Moghaddam, Kaixiang Zhang, Xunyuan Yin +2
Data-enabled predictive control (DeePC) has garnered significant attention for its ability to achieve safe, data-driven optimal control without relying on explicit system models. T…
Differentially-Private Distributed Model Predictive Control of Linear Discrete-Time Systems with Global Constraints
Kaixiang Zhang, Yongqiang Wang, Ziyou Song +1
Distributed model predictive control (DMPC) has attracted extensive attention as it can explicitly handle system constraints and achieve optimal control in a decentralized manner.…
High-Precision Fruit Localization Using Active Laser-Camera Scanning: Robust Laser Line Extraction for 2D-3D Transformation
Pengyu Chu, Zhaojian Li, Kaixiang Zhang +2
Recent advancements in deep learning-based approaches have led to remarkable progress in fruit detection, enabling robust fruit identification in complex environments. However, muc…
Active Laser-Camera Scanning for High-Precision Fruit Localization in Robotic Harvesting: System Design and Calibration
Kaixiang Zhang, Pengyu Chu, Kyle Lammers +2
Robust and effective fruit detection and localization is essential for robotic harvesting systems. While extensive research efforts have been devoted to improving fruit detection,…
Communication-Efficient Decentralized Multi-Agent Reinforcement Learning for Cooperative Adaptive Cruise Control
Dong Chen, Kaixiang Zhang, Yongqiang Wang +3
Connected and autonomous vehicles (CAVs) promise next-gen transportation systems with enhanced safety, energy efficiency, and sustainability. One typical control strategy for CAVs…
A Unified Framework for Online Data-Driven Predictive Control with Robust Safety Guarantees
Amin Vahidi-Moghaddam, Kaian Chen, Kaixiang Zhang +3
Despite great successes, model predictive control (MPC) relies on an accurate dynamical model and requires high onboard computational power, impeding its wider adoption in engineer…
Extended Neighboring Extremal Optimal Control with State and Preview Perturbations
Amin Vahidi-Moghaddam, Kaixiang Zhang, Zhaojian Li +3
Optimal control schemes have achieved remarkable performance in numerous engineering applications. However, they typically require high computational cost, which has limited their…
Physics-Augmented Data-EnablEd Predictive Control for Eco-driving of Mixed Traffic Considering Diverse Human Behaviors
Dongjun Li, Kaixiang Zhang, Haoxuan Dong +3
Data-driven cooperative control of connected and automated vehicles (CAVs) has gained extensive research interest as it can utilize collected data to generate control actions witho…
ABatRe-Sim: A Comprehensive Framework for Automated Battery Recycling Simulation
Huanqing Wang, Kaixiang Zhang, Keyi Zhu +2
With the rapid surge in the number of on-road Electric Vehicles (EVs), the amount of spent lithium-ion (Li-ion) batteries is also expected to explosively grow. The spent battery pa…
O2RNet: Occluder-Occludee Relational Network for Robust Apple Detection in Clustered Orchard Environments
Pengyu Chu, Zhaojian Li, Kaixiang Zhang +3
Automated apple harvesting has attracted significant research interest in recent years due to its potential to revolutionize the apple industry, addressing the issues of shortage a…