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About

Huahui Xie is a leading researcher in the field of nonlinear control systems and autonomous robotics, with a particular focus on robust and safety-critical motion planning. Their most significant contribution is the development of a novel Disturbance Rejection Model Predictive Control (DRMPC) framework for input-affine nonlinear systems, which has garnered 80 citations and provides a powerful method for handling state-dependent disturbances under constraints. Xie further advanced this work by introducing a robust MPC algorithm for wheeled mobile robots, incorporating quadratic robustness constraints and incremental input limits to ensure both safety and tracking performance (49 citations). Their research extends to distributed multi-robot systems, where they have addressed obstacle and collision avoidance for nonholonomic robots (16 citations), and to real-time safety-critical planning via an adaptive high-order control barrier function-based iterative LQR method (6 citations). By integrating robust control theory with practical constraints like moving obstacle avoidance, Xie has established a comprehensive toolkit for reliable autonomous navigation. Their work is essential reading for engineers and researchers developing resilient control systems for mobile robots in uncertain, dynamic environments.