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What have I contributed?

Research

Published contributions and publicly inspectable research in robust and safety-critical control. Research interests describe the questions I want to investigate next.

Publications​

2025

Safety-Critical Formation Tracking Control of Multi-Robot Systems via CLF-CBF-QP

Guang-Ze Yang, Zi-Jiang Yang

2025 International Conference on Advanced Mechatronic Systems (ICAMechS), pp. 78–83.

A hierarchical fallback framework combines tracking objectives with high-order barrier constraints and prioritizes safety when the quadratic program becomes infeasible.

Paper ↗Project overview ↗

Public repository contains the framework overview; implementation code is not yet available.

BibTeX citation
@inproceedings{yang2025safety,
  author = {Yang, Guang-Ze and Yang, Zi-Jiang},
  title = {Safety-Critical Formation Tracking Control of Multi-Robot Systems via CLF-CBF-QP},
  booktitle = {2025 International Conference on Advanced Mechatronic Systems (ICAMechS)},
  year = {2025},
  pages = {78--83},
  doi = {10.1109/ICAMechS68051.2025.11180981}
}
2024

Distributed Robust Time-Varying Formation Control of Multi-Agent Systems Under Disturbances

Guang-Ze Yang, Zi-Jiang Yang

2024 SICE Festival with Annual Conference (SICE FES), pp. 1000–1005.

Distributed finite-time estimation and sliding-mode control support time-varying formation tracking for second-order multi-agent systems under disturbances.

Paper ↗Simulation code ↗

Public MATLAB simulation, plotting scripts, and a formation animation.

BibTeX citation
@inproceedings{yang2024formation,
  author = {Yang, Guang-Ze and Yang, Zi-Jiang},
  title = {Distributed Robust Time-Varying Formation Control of Multi-Agent Systems Under Disturbances},
  booktitle = {2024 SICE Festival with Annual Conference (SICE FES)},
  year = {2024},
  pages = {1000--1005},
  url = {https://ieeexplore.ieee.org/document/10805135}
}

Completed Research​

Project materials →
Research · Publication / 2025

Safety-critical formation tracking

Problem. Tracking objectives can conflict with safety and physical constraints.

Method. A hierarchical fallback CLF-CBF-QP framework combines tracking objectives with high-order barrier constraints.

Contribution. A three-stage fallback prioritizes safety when the optimization becomes infeasible.

Evaluation is documented in the conference paper. The public repository currently provides the framework overview.

Project details →Paper & citation →
Research · Publication / 2024

Distributed robust formation control

Problem. Multi-agent systems must track changing formations despite disturbances and distributed information.

Method. Finite-time leader-state estimation and sliding-mode formation control.

Contribution. A distributed architecture exchanges estimates of the leader state to support robust tracking.

Evaluation: simulation examples, with MATLAB implementation and plotting scripts publicly available.

Project details →Paper & citation →

Research Interests​

01
Published work

Safe & Constraint-Aware Robot Control​

How can robots track objectives while respecting safety and physical constraints?

My published work investigates formation tracking, robustness to disturbances, and the tradeoff between tracking performance and constraint feasibility.

CLF / CBF · Constrained optimization · Distributed control

02
Research interest

Robot Learning for Physical Interaction​

How can learned policies support reliable manipulation beyond a fixed setup?

An emerging interest in manipulation, imitation and reinforcement learning, and how to evaluate policies through reproducible simulation and physical task criteria.

Manipulation · Robot learning · Sim-to-real

03
Research interest

Geometry, Dynamics & Learning​

Which geometric and dynamical structure should a robotic learning system preserve?

Exploring the connection between representations, system identification, optimization, and control. The technical notes document the mathematical foundations behind these questions.

Geometry · System identification · Model-based control