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cs.RO2024
Task-Parameter Nexus: Task-Specific Parameter Learning for Model-Based Control
Sheng Cheng, Ran Tao, Yuliang Gu +3
This paper presents the Task-Parameter Nexus (TPN), a learning-based approach for online determination of the (near-)optimal control parameters of model-based controllers (MBCs) fo…
eess.SY2024
Real-Time Linear MPC for Quadrotors on SE(3): An Analytical Koopman-based Realization
Santosh M. Rajkumar, Chengyu Yang, Yuliang Gu +3
This letter presents an analytical linear parameter-varying (LPV) representation of quadrotor dynamics utilizing Koopman theory, facilitating computationally efficient linear model…
cs.RO2024★ 1 cited
Proto-MPC: An Encoder-Prototype-Decoder Approach for Quadrotor Control in Challenging Winds
Yuliang Gu, Sheng Cheng, Naira Hovakimyan
Quadrotors are increasingly used in the evolving field of aerial robotics for their agility and mechanical simplicity. However, inherent uncertainties, such as aerodynamic effects…