5 papers
Contraction-based Neural Control for Cooperative Aerial Payload Transportation with Variable-length Cables
Yi Lok Lo, Longhao Qian, Hugh H. T. Liu
This paper presents a novel neural nonlinear control framework for a multi-drone slung payload system with variable-length cables and a rigid-body payload. The equations of motion…
Differential Equation Inductive Robustness Axiomatization
André Platzer, Long Qian
This article establishes the completeness of an axiomatization for the robust safety of dynamical systems with polynomial differential equations on bounded time horizons. Safety pr…
Neural Robust Control on Lie Groups Using Contraction Methods (Extended Version)
Yi Lok Lo, Longhao Qian, Hugh H. T. Liu
In this paper, we propose a learning framework for synthesizing a robust controller for dynamical systems evolving on a Lie group. A robust control contraction metric (RCCM) and a…
A Robust Neural Control Design for Multi-drone Slung Payload Manipulation with Control Contraction Metrics
Xinyuan Liang, Longhao Qian, Yi Lok Lo +1
This paper presents a robust neural control design for a three-drone slung payload transportation system to track a reference path under external disturbances. The control contract…
Observability-Aware Control for Quadrotor Formation Flight with Range-only Measurement
H S Helson Go, Ching Lok Chong, Longhao Qian +1
Cooperative Localization is a promising approach to achieving safe quadrotor formation flight through precise positioning via low-cost inter-drone sensors. This paper develops an o…