42 citations · 51 across the 7 of their papers we have counts for
7 papers
ToMPC: Task-oriented Model Predictive Control via ADMM for Safe Robotic Manipulation
Xinyu Jia, Wenxin Wang, Jun Yang +2
This paper proposes a task-oriented model predictive control (ToMPC) framework for safe and efficient robotic manipulation in open workspaces. The framework unifies collision-free…
Dual-Quadruped Collaborative Transportation in Narrow Environments via Safe Reinforcement Learning
Zhezhi Lei, Zhihai Bi, Wenxin Wang +1
Collaborative transportation, where multiple robots collaboratively transport a payload, has garnered significant attention in recent years. While ensuring safe and high-performanc…
Multi-layered Safety of Redundant Robot Manipulators via Task-oriented Planning and Control
Xinyu Jia, Wenxin Wang, Jun Yang +2
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full…
Generalized Iterative Super-Twisting Sliding Mode Control: A Case Study on Flexure-Joint Dual-Drive H-Gantry Stage
Wenxin Wang, Jun Ma, Zilong Cheng +3
Mechatronic systems are commonly used in the industry, where fast and accurate motion performance is always required to guarantee manufacturing precision and efficiency. Neverthele…
Global Iterative Sliding Mode Control of an Industrial Biaxial Gantry System for Contouring Motion Tasks
Wenxin Wang, Jun Ma, Zilong Cheng +3
This paper proposes a global iterative sliding mode control approach for high-precision contouring tasks of a flexure-linked biaxial gantry system. For such high-precision contouri…
Robust Fixed-Order Controller Design for Uncertain Systems with Generalized Common Lyapunov Strictly Positive Realness Characterization
Jun Ma, Haiyue Zhu, Xiaocong Li +3
This paper investigates the design of a robust fixed-order controller for single-input-single-output (SISO) polytopic systems with interval uncertainties, with the aim that the clo…
Data-Driven Linear Quadratic Optimization for Controller Synthesis with Structural Constraints
Jun Ma, Zilong Cheng, Xiaocong Li +3
For various typical cases and situations where the formulation results in an optimal control problem, the Linear Quadratic Regulator (LQR) approach and its variants continue to be…