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academic-work

My journal articles, conference presentations, class projects, and PhD dissertation from my graduate work at the University of Arizona.

acc_vehicle_mpc

Model Predictive Control of Adaptive Cruise Control Vehicles.

actorcritic4tankscontrol

Reinforcment Learning - Actor and Critic is used for the control of a 4 reservoirs system

adaptive-mpc

Adaptive MPC

admm

AA277 Formation Control ADMM

adv-marl

Adversarial attacks in consensus-based multi-agent reinforcement learning

advdiffreac_fd

A short MATLAB code for Advection Diffusion Reaction PDEs in Time Domain

algorithms

A project to implement the algorithms from Introduction to Algorithms (Cormen, Leiserson, Rivest, and Stein) in Python, Ruby and other programming languages.

apollo

An open autonomous driving platform

asymmetric_manipulation

Code for implementing and experimenting with cooperative manipulation controllers. Includes a controller based on a novel extended relative Jacobian formulation.

attitude-optimal-backstepping-controller-based-quaternion-for-a-uav

Implementation of Attitude Optimal Backstepping Controller for UAV

average-consensus

Secure Privacy Preserving Average Consensus

awesome-robotics

A list of awesome Robotics resources

cheetah-software

cis2m

Computing Controlled Invariant Sets in Two Moves

cola

Codes for the paper "Consensus Learning for Cooperative Multi-Agent Reinforcement Learning"

collision-probability-calculation-and-optimal-avoidance-control-for-spacecraft

Collision Probability Calculation and Optimal Avoidance Control for Spacecraft.

control-and-system-book

textbook about control, robotics, system

coordination_oru_ros

Multi-robot coordination package based on coordination_oru with ROS support

ctc_gpr

Stable Gaussian Process based Tracking Control of Euler-Lagrange Systems

data-driven-control

A reliable controller is critical for execution of safe and smooth maneuvers of an autonomous vehicle. The controller must be robust to external disturbances, such as road surface, weather, wind conditions, and so on. It also needs to deal with internal variations of vehicle sub-systems, including powertrain inefficiency, measurement errors, time delay, etc. These factors introduce issues in controller performance. In this paper, a feed-forward compensator is designed via a data-driven method to model and optimize the controller’s performance. Principal Component Analysis (PCA) is applied for extracting influential features, after which a Time Delay Neural Network is adopted to predict control errors over a future time horizon. Based on the predicted error, a feedforward compensator is then designed to improve control performance. Simulation results in different scenarios show that, with the help of with the proposed feedforward compensator, the maximum path tracking error and the steering wheel angle oscillation are improved by 44.4% and 26.7%, respectively.

ddrtc-of-umss

This paper presents a data-driven control design framework to achieve robust tracking control without exploiting mathematical model of nonlinear underactuated mechanical systems (UMS). The method leverages the differential flatness property of linearized systems and online estimation and compensation of disturbances by active disturbance rejection control (ADRC). The differentially flat output is derived directly from measured data with unknown dynamics and parameters of UMS by the flat output identification (FOID) algorithm. A reduced nominal model of UMS is proposed to simplify the process of finding flat output and trajectory planning. Technique of sparse regression is applied to identify the relationships between flat output and system states, which reduces the order of the well-known extended state observer (ESO) and thereby make the ESO more effective for both trajectory planning and tracking in terms …

decentralized-triggered-mas

Implement simu for practce

distributed-formation-control-of-manipulators-end-effectors

distributedoptimizationwithlocaldomains

Code to replicate experiments in paper

django-stu

基于python的Django框架学生信息管理系统

drake

Model-based design and verification for robotics.

dsctutorials

A few simple tutorials for dynamical systems and control. Most require Matlab.

dynamic-trajectory

This repository contains the scripts for the Dynamic Trajectory Project

euler-lagrange-routine