2 papers
cs.RO2025
Unified Disturbance Aware Safe Kinematic Control for Closed-Architecture Robots
Fan Zhang, Jinfeng Chen, Joseph J. B. Mvogo Ahanda +4
In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinemati…
eess.SY2024
Disturbance Rejection-Guarded Learning for Vibration Suppression of Two-Inertia Systems
Fan Zhang, Jinfeng Chen, Yu Hu +3
Model uncertainty presents significant challenges in vibration suppression of multi-inertia systems, as these systems often rely on inaccurate nominal mathematical models due to sy…