Below are the publications of ARC Lab after 2021. Xiangru’s previous publications can be found in his google scholar.
Preprints
- Yujie Wang, Xiangru Xu, “Immersion and Invariance-based Disturbance Observer and Its Application to Safe Control“, 2023
- Yujie Wang, Xiangru Xu, “Adaptive Safety-Critical Control for a Class of Nonlinear Systems with Parametric Uncertainties: A Control Barrier Function Approach“, 2023.
Journal Articles
- Ziliang Lyu, Xiangru Xu, Yiguang Hong, “Small-Gain Theorem for Safety Verification under High-Relative-Degree Constraints“, IEEE Transactions on Automatic Control, 2024. DOI: 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. DOI: 10.1109/LCSYS.2023.3289572. (with presentation at IEEE Conference on Decision and Control, Marina Bay Sands, Singapore, 2023.)
- Victor Freire, Xiangru Xu, “Flatness-based Quadcopter Trajectory Planning and Tracking with Continuous-time Safety Guarantees“, IEEE Transactions on Control Systems Technology, 2023. DOI: 10.1109/TCST.2023.3250954. [video]
- 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. DOI: 10.1109/LRA.2022.3204903. [code]
- Ziliang Lyu, Xiangru Xu, Yiguang Hong, “Small-Gain Theorem for Safety Verification of Interconnected Systems“, Automatica, 139(110178), 2022. DOI: 10.1016/j.automatica.2022.110178.
- Xiangru Xu, Adam M Tahir, Behcet Acikmese, “Periodic Event-triggered Control for Incrementally Quadratic Nonlinear Systems“, International Journal of Robust and Nonlinear Control, 31:5261-5280, 2021. DOI: 10.1002/rnc.5537.
- Xiangru Xu, Behcet Acikmese, “Approximation of the Constrained Joint Spectral Radius via Algebraic Lifting“, IEEE Transactions on Automatic Control, 66(7): 3386-3392, 2021. DOI: 10.1109/TAC.2020.3020580.
Peer-reviewed Conference Papers
- Yujie Wang, Xiangru Xu, “Safe Control of Euler-Lagrange Systems with Limited Model Information“, IEEE Conference on Decision and Control, Marina Bay Sands, Singapore, 2023. (accepted)
- Harry Zhang, Stefan Caldararu, et al, “Using simulation to design an MPC policy for field navigation using GPS sensing“, ASME International Design Engineering Technical Conferences, Boston, MA, USA, 2023.
- Yuhao Zhang, Xiangru Xu, “Reachability Analysis and Safety Verification of Neural Feedback Systems via Hybrid Zonotopes“, American Control Conference, San Diego, CA, USA, page 1915-1921, 2023. DOI: 10.23919/ACC55779.2023.10156417.
- Yujie Wang, Xiangru Xu, “Disturbance Observer-based Robust Control Barrier Functions“, American Control Conference, San Diego, CA, USA, page 3681-3687, 2023. DOI: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. DOI: 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, GA, USA, page 3814–3819, 2022. DOI: 10.23919/ACC53348.2022.9867681. [code]
- Yujie Wang, Xiangru Xu, “Observer-based Control Barrier Functions for Safety Critical Systems“, American Control Conference, Atlanta, GA, USA, page 709–714, 2022. DOI: 10.23919/ACC53348.2022.9867262.
Technical Report
- 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.
- Asher Elmquist, Aaron Young, et al, “A software toolkit and hardware platform for investigating and comparing robot autonomy algorithms in simulation and reality“, 2022.
- Harry Zhang, Stefan Caldararu, et al, “Using simulation to design an MPC policy for field navigation using GPS sensing“, 2023.
- Harry Zhang, Stefan Caldararu, et al, “A Case Study of the Sim-to-Real Gap When Designing PID and MPC Controllers in Simulation“, 2023.
