3 papers
eess.SY2026
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…
eess.SY2026
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…
eess.SY2025
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…