4 papers · 1 filter
Quadratic-Programming-based Control of Multi-Robot Systems for Cooperative Object Transport
Si Wu, Zhengyan Qin, Tengfei Liu +1
This paper investigates the control problem of steering a group of spherical mobile robots to cooperatively transport a spherical object. By controlling the movements of the robots…
Feasible-Set Reshaping for Constraint Qualification in Optimization-Based Control
Si Wu, Tengfei Liu, Yiguang Hong +2
This paper presents a novel feasible-set reshaping technique to optimization-based control with ensured constraint qualification. In our problem setting, the feasible set of admiss…
Safety-Critical Control of Euler-Lagrange Systems Subject to Multiple Obstacles and Velocity Constraints
Zhi Liu, Si Wu, Tengfei Liu +1
This paper studies the safety-critical control problem for Euler-Lagrange (EL) systems subject to multiple ball obstacles and velocity constraints in accordance with affordable vel…
Constructive Safety Control
Si Wu, Tengfei Liu, Zhong-Ping Jiang
This paper proposes a constructive approach to safety control of nonlinear cascade systems subject to multiple state constraints. New design ingredients include a unified character…