Author

Wenlong Zhang

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Preprint Oct 2026

Switch-Time-Aware Hybrid Model Predictive Control Using the Hybrid Minimum Principle

This article presents a time-aware hybrid model predictive control (MPC) framework that simultaneously optimizes the objective with respect to both continuous control inputs and event switching times. Rather than relying on a fixed time grid, the switching instant is lifted into the decision vector and treated as an ex...

Valentin Gaucher, Wen-Long Zhang · 0 citations

Preprint Sep 2026

Towards Effective Physical Reservoir Computing with a Pneumatic Soft Robot

Physical reservoir computing (PRC) refers to the use of a physical dynamical system as a computational resource for tasks such as state estimation and control, but there has been a lack of formal study of design rules towards more effective design of such physical reservoirs. Using a pneumatic soft arm with a five-pouc...

J. Manjunath, Jun Wang, Suyi Li et al. · 0 citations