4 citations · 4 across the 7 of their papers we have counts for
3 papers · 1 filter
Scalable Distributed Nonlinear Control Under Flatness-Preserving Coupling
Fengjun Yang, Jake Welde, Nikolai Matni
We study distributed control for a network of nonlinear, differentially flat subsystems subject to dynamic coupling. Although differential flatness simplifies planning and control…
Leveling the Playing Field: Carefully Comparing Classical and Learned Controllers for Quadrotor Trajectory Tracking
Pratik Kunapuli, Jake Welde, Dinesh Jayaraman +1
Learning-based control approaches like reinforcement learning (RL) have recently produced a slew of impressive results for tasks like quadrotor trajectory tracking and drone racing…
Learning Flatness-Preserving Residuals for Pure-Feedback Systems
Fengjun Yang, Jake Welde, Nikolai Matni
We study residual dynamics learning for differentially flat systems, where a nominal model is augmented with a learned correction term from data. A key challenge is that generic re…