Contraction theory for nonlinear stability analysis and learning-based control: A tutorial overview
Contraction theory is an analytical tool to study differential dynamics of a non-autonomous
(ie, time-varying) nonlinear system under a contraction metric defined with a uniformly …
(ie, time-varying) nonlinear system under a contraction metric defined with a uniformly …
Adaptive force-based control of dynamic legged locomotion over uneven terrain
Agile-legged robots have proven to be highly effective in navigating and performing tasks in
complex and challenging environments, including disaster zones and industrial settings …
complex and challenging environments, including disaster zones and industrial settings …
Tube-certified trajectory tracking for nonlinear systems with robust control contraction metrics
This letter presents an approach to guaranteed trajectory tracking for nonlinear control-affine
systems subject to external disturbances based on robust control contraction metrics (CCM) …
systems subject to external disturbances based on robust control contraction metrics (CCM) …
Difftune: Auto-tuning through auto-differentiation
The performance of robots in high-level tasks depends on the quality of their lower level
controller, which requires fine-tuning. However, the intrinsically nonlinear dynamics and …
controller, which requires fine-tuning. However, the intrinsically nonlinear dynamics and …
L1Adaptive Augmentation for Geometric Tracking Control of Quadrotors
This paper introduces an L 1 adaptive control aug-mentation for geometric tracking control of
quadrotors. In the proposed design, the L 1 augmentation handles nonlinear (time-and state …
quadrotors. In the proposed design, the L 1 augmentation handles nonlinear (time-and state …
Improving the Robustness of Reinforcement Learning Policies With Adaptive Control
A reinforcement learning (RL) control policy could fail in a new/perturbed environment that is
different from the training environment, due to the presence of dynamic variations. For …
different from the training environment, due to the presence of dynamic variations. For …
Generalization of safe optimal control actions on networked multiagent systems
In this article, we propose a unified framework to instantly generate a safe optimal control
action for a new task from existing controllers on multiagent systems. The control action …
action for a new task from existing controllers on multiagent systems. The control action …
${\boldsymbol}{\mathcal {L}} _1 $ Quad: ${\boldsymbol}{\mathcal {L}} _1 $ Adaptive Augmentation of Geometric Control for Agile Quadrotors With Performance …
Quadrotors that can operate predictably in the presence of imperfect model knowledge and
external disturbances are crucial in safety-critical applications. We present Quad, a control …
external disturbances are crucial in safety-critical applications. We present Quad, a control …
[HTML][HTML] L1 adaptive control with feedforward for ASTF and its HIL verification
LIU Jiashuai, HE Ai, PEI **tong, L Yifu - Chinese Journal of Aeronautics, 2025 - Elsevier
Abstract Aeropropulsion System Test Facility (ASTF) is required to accurately control the
pressure and temperature of the airflow to test the performance of the aero-engine …
pressure and temperature of the airflow to test the performance of the aero-engine …
Quad: Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees
Quadrotors that can operate safely in the presence of imperfect model knowledge and
external disturbances are crucial in safety-critical applications. We present L1Quad, a …
external disturbances are crucial in safety-critical applications. We present L1Quad, a …