UW ARC LAB
Autonomous & Resilient Controls Lab

Publications

Below are the publications of ARC Lab after 2022. Xiangru’s previous publications can be found in his google scholar.

Refereed Journal Articles

  • Yujie Wang, Xiangru Xu, “Proxy Control Barrier Functions: Integrating Barrier-Based and Lyapunov-Based Safety-Critical Control Design”, 178: 112364, Automatica, 2025. [pdf] https://doi.org/10.1016/j.automatica.2025.112364.
  • Yuhao Zhang, Xiangru Xu, “Robust Stability of Neural Feedback Systems with Interval Matrix Uncertainties”, Automatica, 177: 112289, 2025. [pdf] https://doi.org/10.1016/j.automatica.2025.112289.
  • Shuoqi Wang, Keng-Yu Lin, Xiangru Xu, Michael Wehner, “A Holistic Indirect Contact Identification Method for Soft Robot Proprioception”, Soft Robotics, 2025. [pdf] https://doi.org/10.1089/soro.2024.0141.
  • Ziliang Lyu, Xiangru Xu, Yiguang Hong, Lihua Xie, “On Converse Zeroing Barrier Functions”, Automatica, 172: 112011, 2025. [pdf] https://doi.org/10.1016/j.automatica.2024.112011.
  • Yujie Wang, Xiangru Xu, “Immersion and Invariance-based Disturbance Observer and Its Application to Safe Control”, IEEE Transactions on Automatic Control, 69(12): 8782-8789, 2024. [pdf]  https://doi.org/10.1109/TAC.2024.3416323.
  • Yuhao Zhang, Hang Zhang, Xiangru Xu, “Reachability Analysis of Neural Network Control Systems with Tunable Accuracy and Efficiency”, IEEE Control Systems Letters, 8: 1697-1702, 2024. (with presentation at IEEE Conference on Decision and Control, Milan, Italy, 2024.) [pdf]  https://doi.org/10.1109/LCSYS.2024.3415471.
  • Yujie Wang, Xiangru Xu, “Adaptive Safety-Critical Control for a Class of Nonlinear Systems with Parametric Uncertainties: A Control Barrier Function Approach”, Systems & Control Letters, 188: 105798, 2024. [pdf] https://doi.org/10.1016/j.sysconle.2024.105798.
  • Ziliang Lyu, Xiangru Xu, Yiguang Hong, “Small-Gain Theorem for Safety Verification under High-Relative-Degree Constraints”, IEEE Transactions on Automatic Control, 69(6): 3717 – 3731, 2024. [pdf]  https://doi.org/10.1109/TAC.2023.3317315. 
  • Yuhao Zhang, Hang Zhang, Xiangru Xu, “Backward Reachability Analysis of Neural Feedback Systems Using Hybrid Zonotopes”, IEEE Control Systems Letters, 7: 2779-2784, 2023. (with presentation at IEEE Conference on Decision and Control, Marina Bay Sands, Singapore, 2023.) [pdf]  https://doi.org/10.1109/LCSYS.2023.3289572.
  • Victor Freire, Xiangru Xu, “Flatness-based Quadcopter Trajectory Planning and Tracking with Continuous-time Safety Guarantees”, IEEE Transactions on Control Systems Technology, 31(6): 2319–2334, 2023. [pdf] [video] [code] https://doi.org/10.1109/TCST.2023.3250954.
  • Victor Freire, Xiangru Xu, “Optimal Control for Kinematic Bicycle Model with Continuous-time Safety Guarantees: A Sequential Second-order Cone Programming Approach”, IEEE Robotics and Automation Letters, 7(4): 11681-11688, 2022. [pdf] [code] https://doi.org/10.1109/LRA.2022.3204903.
  • Ziliang Lyu, Xiangru Xu, Yiguang Hong, “Small-Gain Theorem for Safety Verification of Interconnected Systems”, Automatica, 139: 110178, 2022. [pdf] https://doi.org/10.1016/j.automatica.2022.110178.

Refereed Conference Papers

  • Hang Zhang, Harry Zhang, Yujie Wang, Zhenhao Zhou, Dan Negrut, Xiangru Xu, “Shared Control of Teleoperated Vehicles with Delay-Compensated Safety Filtering”, IEEE Conference on Control Technology and Applications, San Diego, CA, USA, page 192-199, 2025. [pdf] https://doi.org/10.1109/CCTA53793.2025.11151402.
  • Yuhao Zhang, Xiangru Xu, “Efficient Reachability Analysis for Convolutional Neural Networks Using Hybrid Zonotopes”, American Control Conference, Denver, Colorado, USA, page 1321-1326, 2025. [pdf] https://doi.org/10.23919/ACC63710.2025.11107585.
  • Hang Zhang, Yuhao Zhang, Xiangru Xu, “Hybrid Zonotope-Based Backward Reachability Analysis for Neural Feedback Systems With Nonlinear Plant Models”, American Control Conference, Toronto, Canada, page 4140-4146, 2024. [pdf] https://doi.org/10.23919/ACC60939.2024.10644573.
  • Sriram Ashokkumar, et al, “Rapid Development of an Autonomous Vehicle for the SAE AutoDrive Challenge II Competition”, WCX SAE World Congress Experience, Detroit, Michigan, USA, 2024-01-1980, 2024. https://doi.org/10.4271/2024-01-1980.
  • Yujie Wang, Xiangru Xu, “Safe Control of Euler-Lagrange Systems with Limited Model Information”, IEEE Conference on Decision and Control, Marina Bay Sands, Singapore, page 5722-5728, 2023. [pdf] https://doi.org/10.1109/CDC49753.2023.10384132.
  • Yuhao Zhang, Xiangru Xu, “Reachability Analysis and Safety Verification of Neural Feedback Systems via Hybrid Zonotopes”, American Control Conference,  San Diego, California, USA, page 1915-1921, 2023. [pdf] https://doi.org/10.23919/ACC55779.2023.10156417.
  • Yujie Wang, Xiangru Xu, “Disturbance Observer-based Robust Control Barrier Functions”, American Control Conference, San Diego, California, USA, page 3681-3687, 2023. [pdf] https://doi.org/10.23919/ACC55779.2023.10156095.
  • Yuhao Zhang, Xiangru Xu, “Safety Verification of Neural Feedback Systems Based on Constrained Zonotopes”, IEEE Conference on Decision and Control, Cancun, Mexico, page 2737-2744, 2022. [pdf] https://doi.org/10.1109/CDC51059.2022.9992655.
  • Yuhao Zhang, Sequoyah Walters, Xiangru Xu, “Control Barrier Function Meets Interval Analysis: Safety-Critical Control with Measurement and Actuation Uncertainties”, American Control Conference, Atlanta, Georgia, USA, page 3814–3819, 2022. [code] [pdf] https://doi.org/10.23919/ACC53348.2022.9867681.
  • Yujie Wang, Xiangru Xu, “Observer-based Control Barrier Functions for Safety Critical Systems”, American Control Conference, Atlanta, Georgia, USA, page 709–714, 2022. [pdf] https://doi.org/10.23919/ACC53348.2022.9867262.

Technical Reports

  • Harry Zhang, Stefan Caldararu, et al, “Using simulation to design an MPC policy for field navigation using GPS sensing”, ECCOMAS Thematic Conference on Multibody Dynamics, Lisbon, Portugal, 2023. [pdf]
  • Harry Zhang, Stefan Caldararu, et al, “A Case Study of the Sim-to-Real Gap When Designing PID and MPC Controllers in Simulation”, ECCOMAS Thematic Conference on Multibody Dynamics, Lisbon, Portugal, 2023. (Extended Abstract) [pdf]
  • Asher Elmquist, Aaron Young, et al, “ART/ATK: A research platform for assessing and mitigating the sim-to-real gap in robotics and autonomous vehicle engineering”, IROS Workshop on Miniature Robot Platforms for Full Scale Autonomous Vehicle Research, 2022. [pdf]
  • Asher Elmquist, Aaron Young, et al, “A software toolkit and hardware platform for investigating and comparing robot autonomy algorithms in simulation and reality”, 2022. [pdf]