22 citations · 34 across the 23 of their papers we have counts for
4 papers · 1 filter
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer
Xihang Yu, Sangli Teng, Theodor Chakhachiro +7
This paper develops a novel slip estimator using the invariant observer design theory and Disturbance Observer (DOB). The proposed state estimator for mobile robots is fully propri…
Lie Algebraic Cost Function Design for Control on Lie Groups
Sangli Teng, William Clark, Anthony Bloch +2
This paper presents a control framework on Lie groups by designing the control objective in its Lie algebra. Control on Lie groups is challenging due to its nonlinear nature and di…
Input Influence Matrix Design for MIMO Discrete-Time Ultra-Local Model
Sangli Teng, Amit K. Sanyal, Ram Vasudevan +2
Ultra-Local Models (ULM) have been applied to perform model-free control of nonlinear systems with unknown or partially known dynamics. Unfortunately, extending these methods to MI…
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control
Sangli Teng, Dianhao Chen, William Clark +1
This paper reports on a new error-state Model Predictive Control (MPC) approach to connected matrix Lie groups for robot control. The linearized tracking error dynamics and the lin…