3 papers
eess.SY2026
Composite learning control with modular backstepping and high-order tuners
Tian Shi, Shihua Li, Changyun Wen +1
This paper proposes a composite learning backstepping control (CLBC) strategy based on modular backstepping and high-order tuners to achieve closed-loop exponential stability witho…
cs.RO2026
ToMPC: Task-oriented Model Predictive Control via ADMM for Safe Robotic Manipulation
Xinyu Jia, Wenxin Wang, Jun Yang +2
This paper proposes a task-oriented model predictive control (ToMPC) framework for safe and efficient robotic manipulation in open workspaces. The framework unifies collision-free…
cs.RO2025
Multi-layered Safety of Redundant Robot Manipulators via Task-oriented Planning and Control
Xinyu Jia, Wenxin Wang, Jun Yang +2
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full…