Junqing Wei — accepted AI-conference papers

2025

Differential-Flatness-Based Tracking Control for Tractor-Trailers in Reversing Maneuvers

Bo Yang, Zhenhao Zhuang, Zitian Yu, Qian Wang, Junqing Wei, Yilin Mo +1

IROS 2025

In this paper, we propose a differential-flatness-based controller (DFBC) for precise trajectory tracking of tractor-trailers, particularly during reversing maneuvers, which are challenging due to unstable equilibrium points. The proposed controller leverages the differential flatness property of tr

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2023

LipsNet: A Smooth and Robust Neural Network with Adaptive Lipschitz Constant for High Accuracy Optimal Control

Xujie Song, Jingliang Duan, Wenxuan Wang, Shengbo Eben Li, Chen Chen, Bo Cheng +3

ICML 2023poster

Deep reinforcement learning (RL) is a powerful approach for solving optimal control problems. However, RL-trained policies often suffer from the action fluctuation problem, where the consecutive actions significantly differ despite only slight state variations. This problem results in mechanical com…

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