Qin Lin

Unified disturbance-aware safe kinematic control for closed-architecture robots

Fan Zhang, Jinfeng Chen, Joseph Jean-Baptiste Mvogo Ahanda, Hanz Richter, Ge Lv, Bin Hu, et al.

Neural-ESO: A Dual-Pathway Architecture for Provably Robust Learning-Based Control

Fan Zhang, Richie Suganda, Jinfeng Chen, Wenhua Liu, Hantao Fu, Bin Hu, et al.

A learning-enabled disturbance-rejection framework based on a Neural Extended State Observer (Neural-ESO) is presented in this letter. Unlike existing learning-based control methods that largely rely on the learned model once deployed, Neural-ESO adopts a dual-pathway architectur…Read more

Robust Operational Space Control with Conformal Disturbance Bounds for Safe Redundant Manipulation

Wenhua Liu, Fan Zhang, Qin Lin

Redundant robotic manipulators operating in constrained and human-interactive environments require accurate task-space tracking together with rigorous safety guarantees under dynamic uncertainties. Classical operational space computed torque controller (OSCTC) relies on accurate…Read more

Resilient Control Lyapunov Function-based Quadratic Program for Quadrotors Under Cyberattacks

Yichao Wang, Sameeha Tasneem, Mohamadamin Rajabinezhad, Jinfeng Chen, Qin Lin, Kai Wang, et al.

Ensuring the operational safety of quadrotors under partial actuator failures, lumped external disturbances, and malicious cyberattacks is a critical challenge due to the system's underactuated and highly nonlinear nature. Building on the existing result of a fault-tolerant contr…Read more