Welcome to Adaptive Robotic Controls Lab (ArcLab).
ArcLab is located at the Mechanical Engineering (ME) at the University of Hong Kong (HKU).
Our research focuses on various control techniques which can enhance the autonomy of robotics.
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 2020

P Lu, E van Kampen, CC de Visser, Q Chu, Air Data Sensor Fault Detection and Diagnosis in the Presence of Atmospheric Turbulence: Theory and Experimental Validation With Real Flight Data, IEEE Transactions on Control Systems Technology. 2020, 1-9.
PDF  Link  CODE
 
Han Chen and Peng Lu, Computationally Efficient Obstacle Avoidance Trajectory Planner for UAVs Based on Heuristic Angular Search Method, IROS, 2020.
PDF  VIDEO


 Z Hou, P Lu, Z Tu, Nonsingular Terminal Sliding Mode Control for a Quadrotor UAV with a Total Rotor Failure, Aerospace Science and Technology, 2020.
PDF  Link  VIDEO


 2019

Q He, W Zhang, P Lu, J Liu, Performance comparison of representative model-based fault reconstruction algorithms for aircraft sensor fault detection and diagnosis, Aerospace Science and Technology, 2019.
PDF   Link   CODE

Han Chen, Chenxi Xiao, Peng Lu, Dynamic Obstacle Avoidance for UAVs Using a Fast Trajectory Planning Approach, 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO).
PDF  Link  VIDEO

P Lu, T Sandy, J Buchli, Adaptive Unscented Kalman Filter-based Disturbance Rejection With Application to High Precision Hydraulic Robotic Control, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), accepted.
PDF   VIDEO

Z. Huang, C. Fu, Y. Li, F. Lin, P. Lu, Boundary Effect-Aware Visual Tracking for UAV with Online Enhanced Background Learning and Multi-Frame Consensus Verification, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), accepted.

X Wang, E Van Kampen, QP Chu, P Lu, Stability Analysis for Incremental Nonlinear Dynamic Inversion Control, Journal of Guidance, Control and Dynamics, 2019, 42(5):1116-1129.
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X Wang, E Van Kampen, QP Chu, P Lu, Incremental Sliding Mode Fault-Tolerant Flight Control, Journal of Guidance, Control and Dynamics, 2019, 49(2):244-259.
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2018


P. Lu, T. Sandy, J. Buchli. Nonlinear disturbance attenuation control of hydraulic robotics. IEEE International Conference on Robotics and Biomimetics (ROBIO), 2018.
Link  |  PDF  |   Video


D. Falanga, P. Foehn, P. Lu, D. Scaramuzza, PAMPC: Perception-Aware Model Predictive Control for Quadrotors. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

X Wang, E Van Kampen, QP Chu, P Lu, Stability Analysis for Incremental Nonlinear Dynamic Inversion Control, 2018 AIAA Guidance, Navigation, and Control Conference, 1115
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2017

P Lu, E Van Kampen, QP Chu, Efficient Nonlinear Actuator Fault Reconstruction System, AIAA Guidance, Navigation, and Control Conference 2017, 1263
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P Lu, E van Kampen, CC de Visser, Q Chu, Framework for Simultaneous Sensor and Actuator Fault-Tolerant Control, Journal of Guidance, Control and Dynamics 2017, 40(8):2133-2136
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2016

P Lu, E van Kampen, CC de Visser, Q Chu, Aircraft Fault-Tolerant Trajectory Control Using Incremental Nonlinear Dynamic Inversion, Control Engineering Practice 2016
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P Lu, Fault Diagnosis and Fault-Tolerant Control for Aircraft Subjected to Sensor and Actuator Faults, Delft University of Technology, 2016
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P Lu, E van Kampen, CC de Visser, QP Chu, Framework for State and Unknown Input Estimation of Linear Time-varying Systems, Automatica 2016, 73, 145-154
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P Lu, E van Kampen, C de Visser, Q Chu, Nonlinear aircraft sensor fault reconstruction in the presence of disturbances validated by real flight data, Control Engineering Practice 2016, 49, 112-128
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P Lu, L Van Eykeren, E van Kampen, CC de Visser, QP Chu, Adaptive Three-Step Kalman Filter for Air Data Sensor Fault Detection and Diagnosis, Journal of Guidance, Control and Dynamics 2016
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2015

P Lu, E van Kampen, Active fault-tolerant control for quadrotors subjected to a complete rotor failure, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 4698-4703
PDF  |   Link

P Lu, L Van Eykeren, E van Kampen, Q Chu, Selective-Reinitialization Multiple-Model Adaptive Estimation for Fault Detection and Diagnosis, Journal of Guidance, Control, and Dynamics 2015, 38 (8), 1409-1424
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P Lu, L Van Eykeren, E van Kampen, Q Chu, Sensor fault detection and estimation for quadrotors using kinematic equations, Advances in Aerospace Guidance, Navigation and Control 2015, 363-379
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P Lu, L Van Eykeren, E van Kampen, C de Visser, Q Chu, Double-model adaptive fault detection and diagnosis applied to real flight data, Control Engineering Practice 2015, 36, 39-57
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D Jatiningrum, P Lu, C de Visser, Q Chu, M Mulder, Development of a New Method for Calibrating an Angular Accelerometer Using a Calibration Table, AIAA Guidance, Navigation, and Control Conference 2015, 1-13
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P Lu, L Van Eykeren, E Van Kampen, QP Chu, Air Data Sensor Fault Detection and Diagnosis with Application to Real Flight Data, AIAA Guidance, Navigation, and Control Conference, 1-20
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P. Lu, E. van Kampen, Q. Chu. Nonlinear Quadrotor Control with Online Model Identification. Advances in Aerospace Guidance, Navigation and Control, 81-98.
Book Chapter

P. Lu, L. Van Eykeren, E. van Kampen, Q. Chu. Sensor Fault Detection and Estimation for Quadrotors Using Kinematic Equations. Advances in Aerospace Guidance, Navigation and Control, 363-379.
Book Chapter

P Lu, E Van Kampen, Active fault-tolerant control system using incremental backstepping approach, AIAA Guidance, Navigation, and Control Conference 2015, 1-18
Best Student Paper Finalists
Link

P Lu, E van Kampen, QP Chu, Nonlinear Quadrotor Control with Online Model Identification, Advances in Aerospace Guidance, Navigation and Control 2015, 81-98
Link

P Lu, E van Kampen, QP Chu, Robustness and Tuning of Incremental Backstepping Approach, AIAA Guidance, Navigation, and Control Conference 2015, 1-15
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P Lu, E van Kampen, CC de Visser, QP Chu, Aircraft Inertial Measurement Unit Fault Identification with Application to Real Flight Data, Journal of Guidance, Control and Dynamics 2015, 38 (12), 2467-2475
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2014
P Lu, E van Kampen, Selective-Reinitialization Multiple Model Adaptive Estimation for Fault Detection and Diagnosis, AIAA guidance, navigation, and control conference 2014, 1-18
Best Student Paper Finalists
Link

P Lu, E Van Kampen, B Yu, Actuator fault detection and diagnosis for quadrotors, International Micro Air Vehicle Conference and Competition 2014, 58-63

P Lu, L Van Eykeren, E van Kampen, QP Chu, B Yu, Adaptive Hybrid Unscented Kalman Filter for Aircraft Sensor Fault Detection, Isolation and Reconstruction, AIAA guidance, navigation, and control conference 2014, 1-24
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B. Yu, Y. Zhang, Y. Yi, Y. Qu, P. Lu. Fault Detection for Partial Loss of Effectiveness Faults of Actuators in a Quadrotor Unmanned Helicopter. Proceedings of the World Congress on Intelligent Control and Automation (WCICA), 2014.
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2012
P. Lu, W. Zhang, G. Li, X. Liu. Novel MOPSO and Its Application in the Reliability Optimization of
Large Complex Systems
. Application Research of Computers, 2012, 29(6):2153-2155.
Link

P. Lu, W. Zhang, G. Li, X. Liu, X. Li. A Novel MOPSO based on the Invasive Weed Mechanism. Journal of Northwestern Polytechnical University, 2012, 30(2):286-290.
Link