5 papers
Collaborative Optimization Framework of Battery Charging / Swapping Stations for eVTOLs Based on Closed-Loop Supply Chain and Space-Time Network
Pengfeng Lin, Miao Zhu, Jiahui Sun +4
Electric vertical take-off and landing (eVTOL) aircraft, by virtue of their advantages such as high efficiency, environmental friendliness, and low noise, are regarded as an effect…
MPC as a Copilot: A Predictive Filter Framework with Safety and Stability Guarantees
Yunda Yan, Chenxi Tao, Jinya Su +2
Ensuring both safety and stability remains a fundamental challenge in learning-based control, where goal-oriented policies often neglect system constraints and closed-loop state co…
Deep Reinforcement Learning Optimization for Uncertain Nonlinear Systems via Event-Triggered Robust Adaptive Dynamic Programming
Ningwei Bai, Chi Pui Chan, Qichen Yin +3
This work proposes a unified control architecture that couples a Reinforcement Learning (RL)-driven controller with a disturbance-rejection Extended State Observer (ESO), complemen…
Enhancing Robustness of Control Barrier Function: A Reciprocal Resistance-based Approach
Xinming Wang, Zongyi Guo, Jianguo Guo +2
In this note, a new reciprocal resistance-based control barrier function (RRCBF) is developed to enhance the robustness of control barrier functions for disturbed affine nonlinear…
Redundant Observer-Based Tracking Control for Object Extraction Using a Cable Connected UAV
Benjamin J. Marshall, Yunda Yan, James Knowles +2
A new disturbance observer based control scheme is developed for a quadrotor under the concurrent disturbances from a lightweight elastic tether cable and a lumped vertical disturb…