Gewei Zuo
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View article: Disturbance Estimation of Legged Robots: Predefined Convergence via Dynamic Gains
Disturbance Estimation of Legged Robots: Predefined Convergence via Dynamic Gains Open
In this study, we address the challenge of disturbance estimation in legged robots by introducing a novel continuous-time online feedback-based disturbance observer that leverages measurable variables. The distinct feature of our observer …
View article: Small-Gain Theorem Based Distributed Prescribed-Time Convex Optimization For Networked Euler-Lagrange Systems
Small-Gain Theorem Based Distributed Prescribed-Time Convex Optimization For Networked Euler-Lagrange Systems Open
In this paper, we address the distributed prescribed-time convex optimization (DPTCO) for a class of networked Euler-Lagrange systems under undirected connected graphs. By utilizing position-dependent measured gradient value of local objec…
View article: Prescribed-time Cooperative Output Regulation of Linear Heterogeneous Multi-agent Systems
Prescribed-time Cooperative Output Regulation of Linear Heterogeneous Multi-agent Systems Open
A finite-time protocol for a multi-agent systems (MASs) can guarantee the convergence of every agent in a finite time interval in contrast to the asymptotic convergence, but the settling time depends on the initial condition and design par…
View article: Distributed Prescribed-Time Convex Optimization: Cascade Design and Time-Varying Gain Approach
Distributed Prescribed-Time Convex Optimization: Cascade Design and Time-Varying Gain Approach Open
In this paper, we address the distributed prescribed-time convex optimization (DPTCO) problem for a class of nonlinear multi-agent systems (MASs) under undirected connected graph. A cascade design framework is proposed such that the DPTCO …
View article: Adaptive Event-triggered Control with Sampled Transmitted Output and Controller Dynamics
Adaptive Event-triggered Control with Sampled Transmitted Output and Controller Dynamics Open
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in t…
View article: Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot
Hybrid Dynamics Modeling and Trajectory Planning for a Cable-Trailer System with a Quadruped Robot Open
Inspired by sled-pulling dogs in transportation, we present a cable-trailer integrated with a quadruped robot system. The motion planning of this system faces challenges due to the interactions between the cable's state transitions, the tr…