Wei Jiang

Multi-body dynamics and Gyro-MPC-DOB based trajectory tracking control of live-line working robot

When the Live-line working robot carries out high-altitude operations, uncertainty factors such as external wind disturbance, end-load variations, and body vibration affect the control performance of the robotic arm, resulting in poor trajectory tracking accuracy of the robotic a...

Research on trajectory prediction and tracking methods for underwater cleaning robots based on PA-MDP

To address cleaning operations in high-interference power cooling ponds, this paper proposes a physics-aware Markov decision process (PA-MDP) framework. This framework is designed to mitigate trajectory deviations caused by the decoupling of decision-making logic and physical dyn...