13 citations · 19 across the 18 of their papers we have counts for
20 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…
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…
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…
Velocity-Form Data-Enabled Predictive Control of Soft Robots under Unknown External Payloads
Huanqing Wang, Kaixiang Zhang, Kyungjoon Lee +5
Data-driven control methods such as data-enabled predictive control (DeePC) have shown strong potential in efficient control of soft robots without explicit parametric models. Howe…
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…
Advancement and Field Evaluation of a Dual-arm Apple Harvesting Robot
Keyi Zhu, Kyle Lammers, Kaixiang Zhang +5
Apples are among the most widely consumed fruits worldwide. Currently, apple harvesting fully relies on manual labor, which is costly, drudging, and hazardous to workers. Hence, ro…
Economic data-enabled predictive control using machine learning
Mingxue Yan, Xuewen Zhang, Kaixiang Zhang +2
In this paper, we propose a convex data-based economic predictive control method within the framework of data-enabled predictive control (DeePC). Specifically, we use a neural netw…
Safe Data-Driven Predictive Control
Amin Vahidi-Moghaddam, Kaian Chen, Kaixiang Zhang +3
In the realm of control systems, model predictive control (MPC) has exhibited remarkable potential; however, its reliance on accurate models and substantial computational resources…
Data-Enabled Neighboring Extremal: Case Study on Model-Free Trajectory Tracking for Robotic Arm
Amin Vahidi-Moghaddam, Keyi Zhu, Kaixiang Zhang +2
Data-enabled predictive control (DeePC) has recently emerged as a powerful data-driven approach for efficient system controls with constraints handling capabilities. It performs op…
Dictionary-free Koopman Predictive Control for Autonomous Vehicles in Mixed Traffic
Xu Shang, Zhaojian Li, Yang Zheng
Koopman Model Predictive Control (KMPC) and Data-EnablEd Predictive Control (DeePC) use linear models to approximate nonlinear systems and integrate them with predictive control. B…
Model-free Vehicle Rollover Prevention: A Data-driven Predictive Control Approach
Mohammad R. Hajidavalloo, Kaixiang Zhang, Vaibhav Srivastava +1
Vehicle rollovers pose a significant safety risk and account for a disproportionately high number of fatalities in road accidents. This paper addresses the challenge of rollover pr…
Data-Enabled Predictive Control for Flexible Spacecraft
Huanqing Wang, Kaixiang Zhang, Amin Vahidi-Moghaddam +4
Spacecraft are vital to space exploration and are often equipped with lightweight, flexible appendages to meet strict weight constraints. These appendages pose significant challeng…
Foundation Model-Based Apple Ripeness and Size Estimation for Selective Harvesting
Keyi Zhu, Jiajia Li, Kaixiang Zhang +4
Harvesting is a critical task in the tree fruit industry, demanding extensive manual labor and substantial costs, and exposing workers to potential hazards. Recent advances in auto…
Deep DeePC: Data-enabled predictive control with low or no online optimization using deep learning
Xuewen Zhang, Kaixiang Zhang, Zhaojian Li +1
Data-enabled predictive control (DeePC) is a data-driven control algorithm that utilizes data matrices to form a non-parametric representation of the underlying system, predicting…
Online Reduced-Order Data-Enabled Predictive Control
Amin Vahidi-Moghaddam, Kaixiang Zhang, Xunyuan Yin +2
Data-enabled predictive control (DeePC) has garnered significant attention for its ability to achieve safe, data-driven optimal control without relying on explicit system models. T…
MetaFruit Meets Foundation Models: Leveraging a Comprehensive Multi-Fruit Dataset for Advancing Agricultural Foundation Models
Jiajia Li, Kyle Lammers, Xunyuan Yin +4
Fruit harvesting poses a significant labor and financial burden for the industry, highlighting the critical need for advancements in robotic harvesting solutions. Machine vision-ba…
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.…
High-Precision Fruit Localization Using Active Laser-Camera Scanning: Robust Laser Line Extraction for 2D-3D Transformation
Pengyu Chu, Zhaojian Li, Kaixiang Zhang +2
Recent advancements in deep learning-based approaches have led to remarkable progress in fruit detection, enabling robust fruit identification in complex environments. However, muc…
Active Laser-Camera Scanning for High-Precision Fruit Localization in Robotic Harvesting: System Design and Calibration
Kaixiang Zhang, Pengyu Chu, Kyle Lammers +2
Robust and effective fruit detection and localization is essential for robotic harvesting systems. While extensive research efforts have been devoted to improving fruit detection,…