5 papers
Data-Driven Modeling and Control for Tethered Space Systems with Koopman-Informed Graphs
Ao Jin, Yifeng Ma, Panfeng Huang +1
Modeling tethered space systems is critical for advanced orbital operations. Flexible components such as tethers and space nets are integral to these systems but present significan…
Differentiable Physics-Informed Adaptive Koopman Control for Stable Flight under Unknown Disturbances
Ao Jin, Qiujin Liang, Tao Zhang +2
Uncertainties and disturbances in robotic systems, such as aerodynamic forces, are fundamentally outcomes of physical interactions with the environment, manifesting as learnable sp…
Safe Reinforcement Learning Beyond Baseline Control: A Hierarchical Framework for Space Triangle Tethered Formation System
Xinyi Tao, Panfeng Huang, Fan Zhang
Triangular tethered formation system (TTFS) provide a promising platform for deep space exploration and distributed sensing due to its intrinsic spatial-orientation stability and c…
Neural Predictor for Flight Control with Payload
Ao Jin, Chenhao Li, Qinyi Wang +3
Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the force/torque caused by paylo…
Enhanced Robust Tracking Control: An Online Learning Approach
Ao Jin, Weijian Zhao, Yifeng Ma +2
This work focuses the tracking control problem for nonlinear systems subjected to unknown external disturbances. Inspired by contraction theory, a neural network-dirven CCM synthes…