42 citations · 95 across the 15 of their papers we have counts for
6 papers · 1 filter
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,…
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…
Adaptive Control for Switching Reference Systems: Application to Flight Control
Steven Snyder, Pan Zhao, Naira Hovakimyan
This paper presents a framework for the design and analysis of an adaptive controller with a switching reference system. The use of a switching reference system all…