Shi‐Lu Dai
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View article: Point Cloud-Based Control Barrier Functions for Model Predictive Control in Safety-Critical Navigation of Autonomous Mobile Robots
Point Cloud-Based Control Barrier Functions for Model Predictive Control in Safety-Critical Navigation of Autonomous Mobile Robots Open
In this work, we propose a novel motion planning algorithm to facilitate safety-critical navigation for autonomous mobile robots. The proposed algorithm integrates a real-time dynamic obstacle tracking and mapping system that categorizes p…
View article: Study on key technologies for air–water surface collaboration of observation unmanned aircraft vehicle
Study on key technologies for air–water surface collaboration of observation unmanned aircraft vehicle Open
To address the issues of short flight duration and the inability to carry high‐computation resources in small observation unmanned aerial vehicles (UAVs) due to limited energy and payload capacities, this paper proposes a deployment framew…
View article: Cooperative Learning-Based Formation Control of Autonomous Marine Surface Vessels With Prescribed Performance
Cooperative Learning-Based Formation Control of Autonomous Marine Surface Vessels With Prescribed Performance Open
This article addresses the cooperative learning formation control problem for multiple homogeneous marine surface vessels (MSVs) subject to external time-varying disturbances and modeling uncertainties under the prescribed performance cons…
View article: Motion Planning for Mobile Robot with Modified BIT* and MPC
Motion Planning for Mobile Robot with Modified BIT* and MPC Open
In this paper, a mobile robot motion planning method with modified BIT* (batch informed trees) and MPC (Model Predictive Control) is presented. The conventional BIT* was modified here by integrating a stretch method that improves the path …
View article: Distributed Cooperative Learning Control of Uncertain Multiagent Systems With Prescribed Performance and Preserved Connectivity
Distributed Cooperative Learning Control of Uncertain Multiagent Systems With Prescribed Performance and Preserved Connectivity Open
For an uncertain multiagent system, distributed cooperative learning control exerting the learning capability of the control system in a cooperative way is one of the most important and challenging issues. This article aims to address this…
View article: Disturbance observer enhanced variable gain controller for robot teleoperation with motion capture using wearable armbands
Disturbance observer enhanced variable gain controller for robot teleoperation with motion capture using wearable armbands Open
Disturbance observer (DOB) based controller performs well in estimating and compensating for perturbation when the external or internal unknown disturbance is slowly time varying. However, to some extent, robot manipulators usually work in…
View article: Mixed Reality Enhanced User Interactive Path Planning for Omnidirectional Mobile Robot
Mixed Reality Enhanced User Interactive Path Planning for Omnidirectional Mobile Robot Open
This paper proposes a novel control system for the path planning of an omnidirectional mobile robot based on mixed reality. Most research on mobile robots is carried out in a completely real environment or a completely virtual environment.…
View article: Similar Fault Isolation of Discrete-Time Nonlinear Uncertain Systems: An Adaptive Threshold Based Approach
Similar Fault Isolation of Discrete-Time Nonlinear Uncertain Systems: An Adaptive Threshold Based Approach Open
In this paper, a new concept of “similar fault” is introduced to the field of fault isolation (FI) of discrete-time nonlinear uncertain systems, which defines a new and important class of faults that have small mutual differences in fault …
View article: A sEMG-Based Shared Control System With No-Target Obstacle Avoidance for Omnidirectional Mobile Robots
A sEMG-Based Shared Control System With No-Target Obstacle Avoidance for Omnidirectional Mobile Robots Open
We propose a novel shared control strategy for mobile robots in a human-robot interaction manner based on surface eletromyography (sEMG) signals. For security reasons, an obstacle avoidance scheme is introduced to the shared control system…
View article: Unit Quaternion Based Attitude Control of An Aerial Manipulator
Unit Quaternion Based Attitude Control of An Aerial Manipulator Open
This paper considers an aerial manipulator consisting of a quadcopter and a 2-DoF manipulator. The attitude of the quadcopter, represented by unit quaternion, is expected to track a given time-varying reference. In the modeling of the atti…
View article: Performance-Guaranteed Tracking Control of an Autonomous Surface Vessel With Parametric Uncertainties and Time-Varying Disturbances
Performance-Guaranteed Tracking Control of an Autonomous Surface Vessel With Parametric Uncertainties and Time-Varying Disturbances Open
In this paper, the model-based adaptive control combined with a continuous robust integral of the sign of the error (RISE) feedback strategy is presented for the trajectory tracking control of an autonomous surface vessel (ASV) subject to …
View article: Adaptive Neural Control of Underactuated Surface Vessels With Prescribed Performance Guarantees
Adaptive Neural Control of Underactuated Surface Vessels With Prescribed Performance Guarantees Open
This paper presents adaptive neural tracking control of underactuated surface vessels with modeling uncertainties and time-varying external disturbances, where the tracking errors consisting of position and orientation errors are required …
View article: Haptics Electromyography Perception and Learning Enhanced Intelligence for Teleoperated Robot
Haptics Electromyography Perception and Learning Enhanced Intelligence for Teleoperated Robot Open
Due to the lack of transparent and friendly human-robot interaction (HRI) interface, as well as various uncertainties, it is usually a challenge to remotely manipulate a robot to accomplish a complicated task. To improve the teleoperation …
View article: Deterministic learning enhanced neutral network control of unmanned helicopter
Deterministic learning enhanced neutral network control of unmanned helicopter Open
In this article, a neural network–based tracking controller is developed for an unmanned helicopter system with guaranteed global stability in the presence of uncertain system dynamics. Due to the coupling and modeling uncertainties of the…
View article: Tracking performance and global stability guaranteed neural control of uncertain hypersonic flight vehicle
Tracking performance and global stability guaranteed neural control of uncertain hypersonic flight vehicle Open
In this article, a global adaptive neural dynamic surface control with predefined tracking performance is developed for a class of hypersonic flight vehicles, whose accurate dynamics is hard to obtain. The control scheme developed in this …