Sep 2026
Online self-tuning of active disturbance rejection control for PMSM drives via physics-guided reinforcement learning
Yu-Si Fan, Zhuang-Yu Liu, Xin-Po Lin et al.
· Nonlinear dynamics · 0 citations
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2026
Constraint-Manifold-Guided Diffusion and Mode-Aware Compliance for Bimanual Assembly
Bimanual robotic assembly requires a deep synergy between global kinematic coordination and local physical stability, which is often hindered by complex coupling constraints and contact uncertainties. This work presents a hierarchical dual-manifold framework that decouples long-horizon generative planning from reactive...
Yu-Si Fan, Zhuang-Yu Liu, Chao Li et al.
· IEEE Transactions on Automat... · 0 citations