14 papers
Deep Reinforcement Learning-Enhanced Event-Triggered Data-Driven Predictive Control for a 3D Cable-Driven Soft Robotic Arm
Cheng Ouyang, Moeen Ul Islam, Kaixiang Zhang +3
Soft robots are challenging to control due to their nonlinear and time-varying dynamics. Data-enabled predictive control (DeePC) offers a model-free alternative by directly leverag…
A Modular Dual-Arm Apple Harvesting Robot with Enhanced Field Performance
Keyi Zhu, Kyle Lammers, Chaaran Arunachalam +3
Robotic apple harvesting offers a promising solution to labor shortages in commercial orchards, but low throughput and poor performance in orchard environments hinder its commercia…
Direct Data-Driven Predictive Control for a Three-dimensional Cable-Driven Soft Robotic Arm
Cheng Ouyang, Moeen Ul Islam, Dong Chen +3
Soft robots offer significant advantages in safety and adaptability, yet achieving precise and dynamic control remains a major challenge due to their inherently complex and nonline…
Learning-based data-enabled economic predictive control with convex optimization for nonlinear systems
Mingxue Yan, Xuewen Zhang, Kaixiang Zhang +2
In this article, we propose a data-enabled economic predictive control method for a class of nonlinear systems, which aims to optimize the economic operational performance while ha…
Differentially-Private Distributed Model Predictive Control of Linear Discrete-Time Systems with Global Constraints
Kaixiang Zhang, Yongqiang Wang, Ziyou Song +1
Distributed model predictive control (DMPC) has attracted extensive attention as it can explicitly handle system constraints and achieve optimal control in a decentralized manner.…
Distributed Platoon Control Under Quantization: Stability Analysis and Privacy Preservation
Kaixiang Zhang, Zhaojian Li, Wei Lin
Distributed control of connected and automated vehicles has attracted considerable interest for its potential to improve traffic efficiency and safety. However, such control scheme…