5 papers
Neural-ESO: A Dual-Pathway Architecture for Provably Robust Learning-Based Control
Fan Zhang, Richie Suganda, Jinfeng Chen +4
A learning-enabled disturbance-rejection framework based on a Neural Extended State Observer (Neural-ESO) is presented in this letter. Unlike existing learning-based control method…
Robust Operational Space Control with Conformal Disturbance Bounds for Safe Redundant Manipulation
Wenhua Liu, Fan Zhang, Qin Lin
Redundant robotic manipulators operating in constrained and human-interactive environments require accurate task-space tracking together with rigorous safety guarantees under dynam…
Resilient Control Lyapunov Function-based Quadratic Program for Quadrotors Under Cyberattacks
Yichao Wang, Sameeha Tasneem, Mohamadamin Rajabinezhad +4
Ensuring the operational safety of quadrotors under partial actuator failures, lumped external disturbances, and malicious cyberattacks is a critical challenge due to the system's…
Unified Disturbance Aware Safe Kinematic Control for Closed-Architecture Robots
Fan Zhang, Jinfeng Chen, Joseph J. B. Mvogo Ahanda +4
In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinemati…
A Model-Based Extended State Observer for Discrete-Time Linear Multivariable Systems
Jinfeng Chen, Zhiqiang Gao, Qin Lin
In the absence of a detailed and accurate plant model, extended state observer (ESO) has been clearly shown as an effective tool in both control applications and theoretical analys…