Yi-Hsuan Chen

Yi-Hsuan Chen

PhD student at UMD in Aerospace Engineering

Publications

Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopic Sets

Published in IEEE CDC 2025, 2025

Safely navigating around obstacles while respecting the dynamics, control, and geometry of the underlying system is a key challenge in robotics. In this paper, we propose an optimization-defined CBF that directly considers the exact Signed Distance Function (SDF) between a polytopic robot and polytopic obstacles.

Recommended citation: Chen, Yi-Hsuan, et al. "Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopic Sets." arXiv preprint arXiv:2504.00364 (2025). https://arxiv.org/pdf/2504.00364

Design of Longitudinal Control for Reduced-Gravity Atmospheric Flights

Published in AIAA SCITECH 2023, 2023

Parabolic flights are one way to simulate microgravity on Earth, which can be achieved by making aircraft follow specific flight trajectories. This work describes a kinematic and dynamic analysis of general partial gravity cases and develops a flight control framework for a zero-gravity flight using a proof-mass-tracking approach. A triple-integral control structure is adopted to overcome unknown, quadratically increasing drag. Furthermore, to avoid the non-minimum phase characteristics of aircraft longitudinal dynamics, the position deviation from the inertial reference is redefined such that the closed-loop system is minimum phase.

Recommended citation: Chen, Y. H., & Feron, E. (2023). Design of Longitudinal Control for Reduced-Gravity Atmospheric Flights. In AIAA SCITECH 2023 Forum (p. 0218). https://arc.aiaa.org/doi/epdf/10.2514/6.2023-0218

Adaptive Observer-Based Fault Detection and Fault-Tolerant Control of Quadrotors under Rotor Failure Conditions

Published in Applied Science, 2020

The objective is to design a flight control algorithm for a quadrotor and study further how to recover control in the presence of single rotor loss. The error transformation and reconfiguration techniques combined with sacrificing yaw control are applied to realize fault-tolerant control under actuator failures. The input saturation is not considered in our case.

Recommended citation: Lien, Y. H., Peng, C. C., & **Chen, Y. H. (2020)**. Adaptive observer-based fault detection and fault-tolerant control of quadrotors under rotor failure conditions. Applied Sciences, 10(10), 3503. https://www.mdpi.com/2076-3417/10/10/3503