Publications

2024

  1. se3.png
    SE(3) Linear Parameter Varying Dynamical Systems for Globally Asymptotically Stable End-Effector Control
    Sunan Sun*, and Nadia Figueroa
    arXiv preprint, 2024
    arXiv HTML
  2. damm.png
    Directionality-Aware Mixture Model Parallel Sampling for Efficient Linear Parameter Varying Dynamical System Learning
    Sunan Sun*, Haihui Gao , Tianyu Li , and 1 more author
    arXiv preprint, 2024
    arXiv HTML

Projects

2023

  1. iLQR.gif
    Iterative Linear Quadratic Regulator Design for Quadrotor System
    Transcribing trajectory optimization problem using iterative Linear Quadratic Regulator (iLQR)
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  2. OSC.gif
    Operational Space Controller for a Plannar Biped
    Controlling a planar biped robot using Opertional Space Control (OSC) in simulation environment
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  3. MPC.gif
    Online Trajectory Optimization and Optimal Control via Model Predictive Control
    Model Predictive Controller (MPC) for trajectory planning and optimal control at real-time
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