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Citations since 2017
4 Research Items
The aerial manipulator has recently attracted much research attention due to its wide applications such as aerial cleaning, aerial transportation, and aerial manipulation. It is important to design a reliable controller for the aerial manipulator to robustly perform aerial tasks with different settings. However, current controllers still employ man...
The stability and trajectory control of a quadrotor carrying a suspended load with a fixed known mass has been extensively studied in recent years. However, the load mass is not always known beforehand in practical applications. This mass uncertainty brings uncertain disturbances to the quadrotor system, causing existing controllers to have a worse...
Enabling robots to provide effective assistance yet still accommodating the operator’s commands for telemanipulation of an object is very challenging because robot’s assistance is not always intuitive for human operators and human behaviors and preferences are sometimes ambiguous for the robot to interpret. Due to the difference in hand structures,...
This paper combined data-driven modeling and optimal control for performance enhancement of earth pressure balance tunnel boring machine (EPBM). Two coupled processes, EPBM advance rate (AR) and cutterhead rotation torque, are modeled using support vector regression (SVR). An optimal control framework was formulated to maximize the AR, solved with...
Autonomous aerial manipulators have great potentials to assist humans or even fully automate manual labor-intensive tasks such as aerial cleaning, aerial transportation, infrastructure repair, and agricultural inspection and sampling. Reinforcement learning holds the promise of enabling persistent autonomy of aerial manipulators because it can adap...