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Heng-Peng Xie

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Conference Aug 2026

Robust Control of Vectored-Thrust Cross-Domain Robots via Allocation-Aware Incremental Nonlinear Dynamic Inversion

Vectored-thrust cross-domain robots must maintain accurate six-DOF motion under strong nearshore wave disturbances and strict actuator saturation/rate limits. Under such conditions, conventional controller-allocator separation can create a command-execution mismatch: the motion controller evolves based on an ideal gene...

Heng-Peng Xie, De-Nan Xu, Zhi-Peng Fei et al. · 0 citations

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