Ye Pu

Learning-Based Adaptive Control for Stochastic Linear Systems With Input Constraints

Seth Siriya, Jingge Zhu, Dragan Nesic, Ye Pu

Journal article  |  2023  |  IEEE CONTROL SYSTEMS LETTERS

We propose a certainty-equivalence scheme for adaptive control of scalar linear systems subject to additive, i.i.d. Gaussian distu..

Sub-Optimal MPC With Dynamic Constraint Tightening

Yujia Yang, Ye Wang, Chris Manzie, Ye Pu

Journal article  |  2023  |  IEEE CONTROL SYSTEMS LETTERS

Limited computation resources forces early (sub-optimal) termination of the solvers used for model predictive controllers (MPCs). ..

Input-mapping based data-driven model predictive control for unknown linear systems via online learning

Lingyi Yang, Dewei Li, Aoyun Ma, Yugeng Xi, Ye Pu, Ying Tan

Journal article  |  2022  |  INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL

Data-driven model predictive control (MPC) is an effective control method in controlling unknown constrained systems. The existing..

Trajectory planning for multiple autonomous underwater vehicles with safety guarantees

S Zhang, Y Yang, S Siriya, Y Pu

Conference Proceedings  |  2022  |  2022 Australian and New Zealand Control Conference, ANZCC 2022

This paper addresses the safe trajectory planning problem for multiple autonomous underwater vehicles (AUVs) in strong waves that ..

Robust Tracking Model Predictive Control with Koopman Operators

Y Wang, Y Yang, Y Pu, C Manzie

Conference Proceedings  |  2022  |  2022 IEEE Conference on Control Technology and Applications, CCTA 2022

Koopman operators can be used to lift nonlinear dynamics into a higher dimensional space to obtain a linear model with nonlinear b..

FaSTrack:A Modular Framework for Real-Time Motion Planning and Guaranteed Safe Tracking

Mo Chen, Sylvia L Herbert, Haimin Hu, Ye Pu, Jaime Fernandez Fisac, Somil Bansal, SooJean Han, Claire J Tomlin

Journal article  |  2021  |  IEEE TRANSACTIONS ON AUTOMATIC CONTROL

Real-time, guaranteed safe trajectory planning is vital for navigation in unknown environments. However, real-time navigation algo..

A Distributed Luenberger Observer for Linear State Feedback Systems With Quantized and Rate-Limited Communications

Francisco Castro Rego, Ye Pu, Andrea Alessandretti, A Pedro Aguiar, Antonio M Pascoal, Colin N Jones

Journal article  |  2021  |  IEEE TRANSACTIONS ON AUTOMATIC CONTROL

This paper addresses the problem of simultaneous distributed state estimation and control of linear systems with linear state feed..

Real-time Distributed MPC for Multiple Underwater Vehicles with Limited Communication Data-rates

Yujia Yang, Ye Wang, Chris Manzie, Ye Pu

Conference Proceedings  |  2021  |  2021 AMERICAN CONTROL CONFERENCE (ACC)

Controlling a fleet of autonomous underwater vehicles can be challenging due to low data-rate communication between agents. This p..

Path Following by Formations of Agents with Collision Avoidance Guarantees using Distributed Model Predictive Control

Ye Wang, Yujia Yang, Ye Pu, Chris Manzie

Conference Proceedings  |  2021  |  2021 AMERICAN CONTROL CONFERENCE (ACC)

In this paper, we present a distributed model predictive control (MPC) strategy for path following and formation control of multi-..

Differential Privacy for Distributed Consensus with Partial Observations

Ye Pu

Conference Proceedings  |  2020  |  2020 IEEE 16TH INTERNATIONAL CONFERENCE ON CONTROL & AUTOMATION (ICCA)

In a network, distributed privacy-preserving algorithms protect sensitive information by adding noise to the message before it is ..