70 citations · 145 across the 16 of their papers we have counts for
16 papers
Velocity Obstacle Based Risk-Bounded Motion Planning for Stochastic Multi-Agent Systems
Xiaoxue Zhang, Jun Ma, Zilong Cheng +2
In this paper, we present an innovative risk-bounded motion planning methodology for stochastic multi-agent systems. For this methodology, the disturbance, noise, and model uncerta…
Receding Horizon Motion Planning for Multi-Agent Systems: A Velocity Obstacle Based Probabilistic Method
Xiaoxue Zhang, Jun Ma, Zilong Cheng +2
In this paper, a novel and innovative methodology for feasible motion planning in the multi-agent system is developed. On the basis of velocity obstacles characteristics, the chanc…
Generalized Iterative Super-Twisting Sliding Mode Control: A Case Study on Flexure-Joint Dual-Drive H-Gantry Stage
Wenxin Wang, Jun Ma, Zilong Cheng +3
Mechatronic systems are commonly used in the industry, where fast and accurate motion performance is always required to guarantee manufacturing precision and efficiency. Neverthele…
Semi-Definite Relaxation Based ADMM for Cooperative Planning and Control of Connected Autonomous Vehicles
Xiaoxue Zhang, Zilong Cheng, Jun Ma +3
This paper investigates the cooperative planning and control problem for multiple connected autonomous vehicles (CAVs) in different scenarios. In the existing literature, most of t…
Data-Driven Predictive Control Towards Multi-Agent Motion Planning With Non-Parametric Closed-Loop Behavior Learning
Jun Ma, Zilong Cheng, Wenxin Wang +3
In many specific scenarios, accurate and effective system identification is a commonly encountered challenge in the model predictive control (MPC) formulation. As a consequence, th…
Improved Hierarchical ADMM for Nonconvex Cooperative Distributed Model Predictive Control
Xiaoxue Zhang, Jun Ma, Zilong Cheng +3
Distributed optimization is often widely attempted and innovated as an attractive and preferred methodology to solve large-scale problems effectively in a localized and coordinated…
Data-Driven Multi-Objective Controller Optimization for a Magnetically-Levitated Nanopositioning System
Xiaocong Li, Haiyue Zhu, Jun Ma +4
The performance achieved with traditional model-based control system design approaches typically relies heavily upon accurate modeling of the motion dynamics. However, modeling the…
Trajectory Generation by Chance Constrained Nonlinear MPC with Probabilistic Prediction
Xiaoxue Zhang, Jun Ma, Zilong Cheng +3
Continued great efforts have been dedicated towards high-quality trajectory generation based on optimization methods, however, most of them do not suitably and effectively consider…
Optimal Control of Boolean Control Networks with Discounted Cost: An Efficient Approach based on Deterministic Markov Decision Process
Shuhua Gao, Cheng Xiang, Tong Heng Lee
This paper deals with the infinite-horizon optimal control problem for Boolean control networks (BCNs) with a discounted-cost criterion. This problem has been investigated in exist…
Optimal Decentralized Control for Uncertain Systems by Symmetric Gauss-Seidel Semi-Proximal ALM
Jun Ma, Zilong Cheng, Xiaoxue Zhang +2
The H2 guaranteed cost decentralized control problem is investigated in this work. More specifically, on the basis of an appropriate H2 re-formulation that we put in place, the opt…
Second-Order Non-Convex Optimization for Constrained Fixed-Structure Static Output Feedback Controller Synthesis
Zilong Cheng, Jun Ma, Xiaocong Li +2
For linear time-invariant (LTI) systems, the design of an optimal controller is a commonly encountered problem in many applications. Among all the optimization approaches available…
On Robust Stability and Performance with a Fixed-Order Controller Design for Uncertain Systems
Jun Ma, Haiyue Zhu, Masayoshi Tomizuka +1
Typically, it is desirable to design a control system that is not only robustly stable in the presence of parametric uncertainties but also guarantees an adequate level of system p…
Finite-Horizon Optimal Control of Boolean Control Networks: A Unified Graph-Theoretical Approach
Shuhua Gao, Changkai Sun, Cheng Xiang +2
This paper investigates the finite-horizon optimal control (FHOC) problem of Boolean control networks (BCNs) from a graph theory perspective. We first formulate two general problem…
Development of a General Momentum Exchange Devices Fault Model for Spacecraft Fault-Tolerant Control System Design
Chengfei Yue, Qiang Shen, Xibin Cao +3
This paper investigates the mechanism of various faults of momentum exchange devices. These devices are modeled as a cascade electric motor EM - variable speed drive VSD system. Co…
Role Playing Learning for Socially Concomitant Mobile Robot Navigation
Mingming Li, Rui Jiang, Shuzhi Sam Ge +1
In this paper, we present the Role Playing Learning (RPL) scheme for a mobile robot to navigate socially with its human companion in populated environments. Neural networks (NN) ar…
An Evolutionary Algorithm with Advanced Goal and Priority Specification for Multi-objective Optimization
E. F. Khor, T. H. Lee, R. Sathikannan +1
This paper presents an evolutionary algorithm with a new goal-sequence domination scheme for better decision support in multi-objective optimization. The approach allows the inclus…