Actor-Critic Neural Network Based Finite-time Control for Uncertain Robotic Systems. - Changyi Lei (ICISDM, 2021)

A Fuzzy Cascaded Proportional-Derivative Controller for Under-actuated Flexible Joint Manipulators Using Bayesian Optimization. - Changyi Lei; Quanmin Zhu (CoRR, 2023)

Design and stability analysis of semi-implicit cascaded proportional-derivative controller for underactuated cart-pole inverted pendulum system. - Changyi Lei; Ruobing Li; Quanmin Zhu (Robotica, 2024)

Robust backstepping stabilization of uncertain Cartpole underactuated systems with full state constraints: A strict-feedback-like system design approach. - Changyi Lei; Quanmin Zhu (Eur. J. Control, 2025)

Model-free robust underactuated control of inverted pendulums. - Quanmin Zhu; Changyi Lei; Baiyang Shi; Jianhua Zhang; Juan Wang (J. Frankl. Inst., 2025)