42 citations · 75 across the 7 of their papers we have counts for
7 papers
Full State Estimation of Continuum Robots from Tip Velocities: A Cosserat-Theoretic Boundary Observer
Tongjia Zheng, Qing Han, Hai Lin
State estimation of robotic systems is essential to implementing feedback controllers, which usually provide better robustness to modeling uncertainties than open-loop controllers.…
Task Space Tracking of Soft Manipulators: Inner-Outer Loop Control Based on Cosserat-Rod Models
Tongjia Zheng, Qing Han, Hai Lin
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem…
Backstepping Mean-Field Density Control for Large-Scale Heterogeneous Nonlinear Stochastic Systems
Tongjia Zheng, Qing Han, Hai Lin
This work studies the problem of controlling the mean-field density of large-scale stochastic systems, which has applications in various fields such as swarm robotics. Recently, th…
Distributed Mean-Field Density Estimation for Large-Scale Systems
Tongjia Zheng, Qing Han, Hai Lin
This work studies how to estimate the mean-field density of large-scale systems in a distributed manner. Such problems are motivated by the recent swarm control technique that uses…
Feedback Interconnected Mean-Field Density Estimation and Control
Tongjia Zheng, Qing Han, Hai Lin
Swarm robotic systems have foreseeable applications in the near future. Recently, there has been an increasing amount of literature that employs mean-field partial differential equ…
PDE-based Dynamic Density Estimation for Large-scale Agent Systems
Tongjia Zheng, Qing Han, Hai Lin
Large-scale agent systems have foreseeable applications in the near future. Estimating their macroscopic density is critical for many density-based optimization and control tasks,…