RESEARCH
My research group is working on advancing the control system technologies and their applications to various engineering systems, such as robotics, mechatronics, and industrial processes, with social impacts and public benefits. The current research focus is on developing new control and optimization frameworks for autonomous robotic vehicle (ARV) systems. The challenges and opportunities of incorporating advanced optimization techniques (e.g., MPC, machine/deep learning) into ARV sensing, navigation, and control system design will be fully investigated. The developed new technology will be applied to enable interesting applications such as vision servoing, autonomous navigation, multi-robot cooperative control, etc.
Research Interests
Model Predictive Control Theory and Applications
Autonomous Underwater Vehicles
Perception, Navigation, and Control for Robotics
Vision-Based Intelligent Control Applications
Cooperative Control of Multi-Agent Systems
Distributed Control of Large-Scale Systems
Publications
L. Yu, L. Qiao, C. Shen, High-Speed Obstacle Avoidance of a Large-Scale Underactuated Autonomous Underwater Vehicle Under a Finite Field of View, IEEE Transactions on Automation Science and Engineering, in press, 2024
L. Hao, R. Wang, C. Shen, Y. Shi, Trajectory Tracking Control of Autonomous Underwater Vehicles Using Improved Tube-Based Model Predictive Control Approach, IEEE Transactions on Industrial Informatics, in press, 2024
L. Hao, Z. Wu, C. Shen, Y. Cao, R. Wang, Tube-Based Model Predictive Control for Constrained Unmanned Marine Vehicles With Thruster Faults, IEEE Transactions on Industrial Informatics, in press, 2023
N. Yang, C. Shen, Z. Song, M. Johnson-Roberson, J. Sun, Robust Energy-Optimal Control for 3-D Path-Following of Autonomous Underwater Vehicles Under Ocean Currents, IEEE Transactions on Control Systems Technology, in press, 2023
L. Hao, Z. Yang, Y. Liu, C. Shen, TRCA-Net: Stronger U Structured Network for Human Image Segmentation, Neural Computing and Applications, vol. 35, pp. 9627-9635, 2023
https://link.springer.com/article/10.1007/s00521-023-08199-4
L. Hao, Y. Zhang, C. Shen, F. Xu, Fault-Tolerant Control for Unmanned Marine Vehicles via Quantized Integral Sliding Mode Output Feedback Technique, IEEE Transactions on Intelligent Transportation Systems, vol. 25, no. 5, pp. 5014-5023, 2023
Y. Shi, C. Shen, H. Wei, and K. Zhang, Advanced Model Predictive Control for Autonomous Marine Vehicles, Springer Nature, 2023, In Press, ISBN 978-3-031-19353-8
N. Yang, C. Shen, M. Johnson-Roberson, and J. Sun, “Energy-optimal Three-dimensional Path-following Control of Autonomous Underwater Vehicles under Ocean Currents”, The 2022 IEEE Conference on Control Technology and Applications (CCTA), Trieste, Italy, 2022
C. Shen, and Y. Shi, “NMPC Design for AUV Dynamic Positioning Control with Incremental Input Constraints”, The 5th IEEE International Conference on Industrial Cyber-Physical Systems, University of Warwick, Coventry, United Kingdom, 2022.
Z. Wu, L. Hao, and C. Shen, “Fault-Tolerant Control for Constrained Unmanned Marine Vehicles Based on Model Predictive Control with Integral Sliding Mode Control”, The 5th International Symposium on Autonomous Systems, Hangzhou, China, 2022.
H. Wei, C. Shen and Y. Shi, “Distributed Lyapunov-based Model Predictive Formation Tracking Control for Autonomous Underwater Vehicles Subject to Disturbances”, IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 51, no. 8, pp. 5198-5208, 2021.
C. Shen and Y. Shi, “Distributed Implementation for Nonlinear Model Predictive Tracking Control of an AUV”, Automatica, vol. 115, pp. 108863, 2020
https://www.sciencedirect.com/science/article/abs/pii/S0005109820300613
C. Shen, Y. Shi and B. Buckham, “Trajectory Tracking Control of an Autonomous Underwater Vehicle using Lyapunov-based Model Predictive Control”, IEEE Transactions on Industrial Electronics, vol. 65, no. 7, pp. 5796-5805, 2018.
C. Shen, Y. Shi and B. Buckham, “Path-Following Control of an AUV: A Multi-Objective Model Predictive Control Approach”, IEEE Transactions on Control Systems Technology, vol. 27, no. 3, pp. 1334-1342, 2018.
C. Shen, Y. Shi and B. Buckham, “Integrated Path Planning and Tracking Control of an AUV: A Unified Receding Horizon Optimization Approach”, IEEE/ASME Transactions on Mechatronics, vol. 22, no. 3, pp. 1163 - 1173, 2017.
C. Shen, B. Buckham and Y. Shi, “Modified C/GMRES Algorithm for Fast Nonlinear Model Predictive Tracking Control of an AUV”, IEEE Transactions on Control Systems Technology, vol. 25, no. 5, pp. 1896 - 1904, 2017.
Y. Shi, C. Shen, H. Fang and H. Li, “Advanced Control in Marine Mechatronic Systems: A Survey”, IEEE/ASME Transactions on Mechatronics, vol. 22, no. 3, pp. 1121-1131, 2017.
C. Shen, Y. Shi and B. Buckham, “Lyapunov-Based Model Predictive Control for Dynamic Positioning of Autonomous Underwater Vehicles”, The 2017 IEEE International Conference on Unmanned Systems, Beijing, China, 2017.
C. Shen, K. Zhang, Y. Shi and B. Buckham, “Dynamic Positioning of an AUV: A Lyapunov-based Model Predictive Control Approach”, The 26th Canadian Congress of Applied Mechanics, Victoria, BC, Canada, 2017.
C. Shen, Y. Shi and B. Buckham, “Nonlinear Model Predictive Control for Trajectory Tracking of an AUV: A Distributed Implementation”, The 55th IEEE Conference on Decision and Control, Las Vegas, NV, USA, 2016.
C. Shen, Y. Shi and B. Buckham, “Path-Following Control of an AUV using Multi-Objective Model Predictive Control”, The 2016 American Control Conference, Boston, MA, USA, 2016.
C. Shen, Y. Shi and B. Buckham, “Model Predictive Control for an AUV with Dynamic Path Planning”, The Joint 34th Chinese Control Conference and SICE Annual Conference 2015 , Hangzhou, China, 2015.