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eess.SY2023
i2LQR: Iterative LQR for Iterative Tasks in Dynamic Environments
Yifan Zeng, Suiyi He, Han Hoang Nguyen +4
This work introduces a novel control strategy called Iterative Linear Quadratic Regulator for Iterative Tasks (i2LQR), which aims to improve closed-loop performance with local traj…
eess.SY2021★ 5 cited
Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions
Jun Zeng, Zhongyu Li, Koushil Sreenath
Safety is one of the fundamental problems in robotics. Recently, one-step or multi-step optimal control problems for discrete-time nonlinear dynamical system were formulated to off…
eess.SY2021★ 5 cited
Safety-Critical Control using Optimal-decay Control Barrier Function with Guaranteed Point-wise Feasibility
Jun Zeng, Bike Zhang, Zhongyu Li +1
Safety is one of the fundamental problems in robotics. Recently, a quadratic program-based control barrier function (CBF) method has emerged as a way to enforce safety-critical con…