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…
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…
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…
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…
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…