5 citations · 7 across the 6 of their papers we have counts for
6 papers
Neural-NPV Control: Learning Parameter-Dependent Controllers and Lyapunov Functions
MD Abul Kashem Niloy, Adam Hallmark, Yikun Cheng +1
This paper presents Neural-NPV Control, a learning-based framework for joint synthesis of a parameter-dependent (PD) controller and a PD Lyapunov function using neural networks for…
CROPS: A Deployable Crop Management System Over All Possible State Availabilities
Jing Wu, Zhixin Lai, Shengjie Liu +6
Exploring the optimal management strategy for nitrogen and irrigation has a significant impact on crop yield, economic profit, and the environment. To tackle this optimization chal…
Safe and Efficient Reinforcement Learning Using Disturbance-Observer-Based Control Barrier Functions
Yikun Cheng, Pan Zhao, Naira Hovakimyan
Safe reinforcement learning (RL) with assured satisfaction of hard state constraints during training has recently received a lot of attention. Safety filters, e.g., based on contro…
Guaranteed Trajectory Tracking under Learned Dynamics with Contraction Metrics and Disturbance Estimation
Pan Zhao, Ziyao Guo, Yikun Cheng +3
This paper presents an approach to trajectory-centric learning control based on contraction metrics and disturbance estimation for nonlinear systems subject to matched uncertaintie…
Robustifying Reinforcement Learning Policies with Adaptive Control
Yikun Cheng, Pan Zhao, Manan Gandhi +3
A reinforcement learning (RL) policy trained in a nominal environment could fail in a new/perturbed environment due to the existence of dynamic variations. Existing robust methods…
Safety Constrained Multi-UAV Time Coordination: A Bi-level Control Framework in GPS Denied Environment
Wenbin Wan, Hunmin Kim, Yikun Cheng +3
Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can cause safety issues. To avoid intolerable sensor drifts while completing the time-cr…