45 citations · 205 across the 65 of their papers we have counts for
4 papers · 1 filter
Task Space Tracking of Soft Manipulators: Inner-Outer Loop Control Based on Cosserat-Rod Models
Tongjia Zheng, Qing Han, Hai Lin
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem…
Centralized and Decentralized Techniques for Analysis and Synthesis of Non-Linear Networked Systems
Shirantha Welikala, Hai Lin, Panos J. Antsaklis
In this paper, we develop centralized and decentralized techniques for analyzing and synthesizing networked systems comprised of interconnected sets of non-linear subsystems - only…
Distributed Adaptive Backstepping Control for Vehicular Platoons with Mismatched Disturbances Using Vector String Lyapunov Functions
Zihao Song, Shirantha Welikala, Panos J. Antsaklis +1
In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaini…
A Decentralized Analysis and Control Synthesis Approach for Networked Systems with Arbitrary Interconnections
Shirantha Welikala, Hai Lin, Panos Antsaklis
This paper considers the problem of decentralized analysis and control synthesis to verify and ensure properties like stability and dissipativity of a large-scale networked system…