42 citations · 95 across the 15 of their papers we have counts for
11 papers · 1 filter
Verification of Adaptive Control using Verse Library: A Case Study of Quadrotors
Lin Song, Yangge Li, Sheng Cheng +3
adaptive control (AC) is a control design technique that can handle a broad class of system uncertainties and provide transient performance guarantees. In this work-in-p…
Quad: Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees
Zhuohuan Wu, Sheng Cheng, Pan Zhao +6
Quadrotors that can operate predictably in the presence of imperfect model knowledge and external disturbances are crucial in safety-critical applications. We present L1Quad, a con…
Safety Embedded Stochastic Optimal Control of Networked Multi-Agent Systems via Barrier States
Lin Song, Pan Zhao, Neng Wan +1
This paper presents a novel approach for achieving safe stochastic optimal control in networked multi-agent systems (MASs). The proposed method incorporates barrier states (BaSs) i…
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…
Adaptive Augmentation for Geometric Tracking Control of Quadrotors
Zhuohuan Wu, Sheng Cheng, Kasey A. Ackerman +4
This paper introduces an adaptive control augmentation for geometric tracking control of quadrotors. In the proposed design, the augmentation handle…
Tube-Certified Trajectory Tracking for Nonlinear Systems With Robust Control Contraction Metrics
Pan Zhao, Arun Lakshmanan, Kasey Ackerman +3
This paper presents an approach towards guaranteed trajectory tracking for nonlinear control-affine systems subject to external disturbances based on robust control contraction met…
Adaptive Control with Switched Reference Models: Application to Learn-to-Fly
Steven Snyder, Pan Zhao, Naira Hovakimyan
Learn-to-Fly (L2F) is a new framework that aims to replace the traditional iterative development paradigm for aerial vehicles with a combination of real-time aerodynamic modeling,…
Robust Adaptive Control of Linear Parameter-Varying Systems with Unmatched Uncertainties
Pan Zhao, Steven Snyder, Naira Hovakimyana +1
In controlling systems with large operating envelopes, it is often necessary to adjust the desired dynamics according to operating conditions. This paper presents a robust adaptive…
-: Adaptive Control with Bayesian Learning
Aditya Gahlawat, Pan Zhao, Andrew Patterson +2
We present -, an architecture based on adaptive control and Gaussian Process Regression (GPR) for safe simultaneous control and learnin…
Detectability of Intermittent Zero-Dynamics Attack in Networked Control Systems
Yanbing Mao, Hamidreza Jafarnejadsani, Pan Zhao +2
This paper analyzes stealthy attacks, particularly the zero-dynamics attack (ZDA) in networked control systems. ZDA hides the attack signal in the null-space of the state-space rep…
Novel Stealthy Attack and Defense Strategies for Networked Control Systems
Yanbing Mao, Hamidreza Jafarnejadsani, Pan Zhao +2
This paper studies novel attack and defense strategies, based on a class of stealthy attacks, namely the zero-dynamics attack (ZDA), for multi-agent control systems. ZDA poses a fo…