Current Projects

Fault-Tolerant Control for Safety-Critical Mobility Systems

Set-Theoretic Fault-Tolerant Control for Aircraft Flight | RA, 2020-2022 | PI, 2023-present

Fault-tolerant control (FTC) for safety-critical applications, e.g., aircraft flight control, where a reference governor-centric framework with a set membership-based offline design is developed to guarantee the online feasibility of safe operation, failure isolation, and system reconfiguration while tracking references.

  • M. Castroviejo-Fernandez, H. Li, A. Cotorruelo, E. Garone, and I. Kolmanovsky, "Less conservative robust reference governors and their applications," European Journal of Control, under review.
  • H. Li, I. Kolmanovsky, and A. Girard, "Integrating failure detection and isolation into a reference governor-based reconfiguration strategy for stuck actuators," in 2022 American Control Conference (ACC), pp. 4311-4316, IEEE, 2022.
  • H. Li, I. Kolmanovsky, and A. Girard, "Set-theoretic failure mode reconfiguration for stuck actuators," IEEE Control Systems Letters, vol. 6, pp. 1316-1321, 2021.
  • H. Li, I. Kolmanovsky, and A. Girard, "A failure mode reconfiguration strategy based on constraint admissible and recoverable sets," in 2021 American Control Conference (ACC), pp. 4771-4776, IEEE, 2021.

Motion Planning and Control for Connected and Autonomous Vehicles

Safe and Energy-Efficient Autonomous Driving | RA, 2019-2020 | PI, 2023-present

Safe and energy-aware autonomous driving, where the training of the reinforcement learning (RL) controller is facilitated by a level-k game-theoretic shared-traffic simulator augmented with an electric vehicle (EV) energy model.

  • H. Li, N. Li, I. Kolmanovsky, and A. Girard, "Energy-efficient autonomous driving using cognitive driver behavioral models and reinforcement learning," in AI-enabled Technologies for Autonomous and Connected Vehicles, pp. 283-305, Springer, 2022.
  • H. Li, N. Li, I. Kolmanovsky, and A. Girard, "Energy-efficient autonomous vehicle control using reinforcement learning and interactive traffic simulations," in 2020 American Control Conference (ACC), pp. 3029-3034, IEEE, 2020.

Guaranteed-Safe Overtaking on Rural Highways | Postdoc, 2022-2023 | PI, 2023-present

Motion planning and control for autonomous driving with guaranteed safe overtaking on two-lane rural highways using trajectory optimization and (set-theoretic) reference governor.

  • H. Li, F. Assadian, and R. Langari, "A reference governor-based autonomous driving control strategy for guaranteed safe overtaking," IEEE Transactions on Intelligent Transportation Systems, under review.

Past Projects

Control-Oriented Engine Modeling | Engineer, 2015-2016

Development of diesel engine air path and NOx, soot, and HC emission models as plant models to facilitate research of advanced control techniques.

  • H. Li, K. Butts, K. Zaseck, D. Liao-McPherson, and I. Kolmanovsky, "Emissions modeling of a light-duty diesel engine for model-based control design using multi-layer perceptron neural networks," tech. rep., SAE Technical Paper, 2017.

Hybrid Electric Vehicle Powertrain Configuration Analysis | Engineer, 2016-2018

Development of a powertrain simulation platform with optimal control-based energy management systems (EMS) to analyze fuel economy, acceleration performance, and longitudinal riding comfort.