Zehui Lu

I am a Visiting Assistant Professor in the School of Aeronautics and Astronautics at Purdue University since August, 2024. From 2023 to 2024, I was a Research Intern at Mitsubishi Electric Research Laboratories (MERL), supervised by Dr. Yebin Wang. In 2020, I worked as a Research Engineer at UM Ford Center for Autonomous Vehicles (FCAV), supervised by Prof. Ram Vasudevan.

  • Ph.D., Aeronautical and Astronautical Engineering, Purdue University, 2020 - 2024
  • M.S.E., Mechanical Engineering, University of Michigan, 2018 - 2019

This website is under construction.

               


My Research

My research focuses on

  • Lithium-ion Batteries:

  • Mechatronics :

  • Robotics:

Highlighted Research and Publications

1. High C-rate Safe, Healthy, and Efficient Energy Management Systems for Lithium-ion Batteries

Integrated Optimal Fast Charging and Active Thermal Management of Lithium-Ion Batteries in Extreme Ambient Temperatures
Zehui Lu, Hao Tu, Huazhen Fang, Yebin Wang, Shaoshuai Mou
IEEE Transactions on Control Systems Technology, 2024
[PDF]

Distributed Optimization under Edge Agreement with Application in Battery Network Management
Zehui Lu, Shaoshuai Mou
Under Review, IEEE Transactions on Control of Network Systems, 2024
[PDF]

A Real-time High C-rate Lithium-ion Battery Fast Charging Strategy
Zehui Lu, Hao Tu, Huazhen Fang, Yebin Wang, Shaoshuai Mou
Under Review, The 9th IEEE Conference on Control Technology and Applications (CCTA), 2025

2. Differentiable Digital Twins for Mechatronics Co-design in High-precision and Energy-efficient Manufacturing, Automation, and Transportation

A Differentiable Dynamic Modeling Approach to Integrated Motion Planning and Actuator Physical Design for Mobile Manipulators
Zehui Lu, Yebin Wang
Journal of Field Robotics, 2024
[PDF] / [Video]

Distributed Co-Design of Motors and Motions for Robotic Manipulators
Zehui Lu, Yebin Wang, Yusuke Sakamoto, Shaoshuai Mou
2024 European Control Conference (ECC), 2024
[PDF]

Enhanced Agility and Safety in Mobile Manipulators through Centroidal Momentum-Based Motion Planning
Min Dai, Zehui Lu, Na Li, Yebin Wang
Under Review, 2025 European Control Conference (ECC)
[Video]

Closing the Robot Co-Design Loop: A Framework for Motors, Motions and Feedback Controller Design under Disturbances
Jui-Te Lin, Zehui Lu, Yebin Wang
Under Review, IEEE Robotics and Automation Letters

3. Intelligent Decision-Making, Control-Informed Learning, and Learning-Enhanced Control for Mechatronics, Robots, and Autonomous Systems

Torque Constraint Modeling and Reference Shaping for Servo Systems
Zehui Lu, Tianpeng Zhang, Yebin Wang
IEEE Control Systems Letters, 2024
[PDF]

Online Control-Informed Learning
Zihao Liang, Tianyu Zhou, Zehui Lu, Shaoshuai Mou
Accepted, Transactions on Machine Learning Research, 2025
[PDF]

Online Intention Prediction via Imitation Learning
Tianyu Zhou, Zihao Liang, Zehui Lu, Shaoshuai Mou
Under Review, 7th Annual Learning for Dynamics & Control Conference (L4DC 2025)

A Distributed Deep Koopman Learning Algorithm for Control
Wenjian Hao, Zehui Lu, Devesh Upadhyay, Shaoshuai Mou
Under Review, 7th Annual Learning for Dynamics & Control Conference (L4DC 2025)
[PDF]

Distributed Optimization under Edge Agreements: A Continuous-time Algorithm
Zehui Lu, Shaoshuai Mou
Systems & Control Letters, 2024
[PDF]

Variable Sampling MPC via Differentiable Time-Warping Function
Zehui Lu, Shaoshuai Mou
2023 American Control Conference (ACC), 2023
[PDF]

Cooperative Tuning of Multi-Agent Optimal Control Systems
Zehui Lu, Wanxin Jin, Shaoshuai Mou, Brian D. O. Anderson
2022 IEEE 61st Conference on Decision and Control (CDC), 2022
[PDF] / [Code]

4. Safe, Efficient, and Trustworthy Multi-Robot Systems and Human-Multi-Robot Interaction

Learning From Human Directional Corrections
Wanxin Jin, Todd D Murphey, Zehui Lu, Shaoshuai Mou
IEEE Transactions on Robotics, 2022
[PDF] / [Video] / [Code]

Reward-Based Collision-Free Algorithm for Trajectory Planning of Autonomous Robots
Jose D. Hoyos, Tianyu Zhou, Zehui Lu, Shaoshuai Mou
Under Review, IEEE Transactions on Automation Science and Engineering, 2024
[PDF] / [Video]

On Orbit Object Transportation with Spacecraft Swarms
Sidhdharth D. Sikka, Zehui Lu, Ayush Rai, Daniel DeLaurentis, Shaoshuai Mou
2025 AIAA SciTech Forum, 2025
[PDF]

Multi-Robot Formation Control with Human-on-the-Loop
Tianyu Zhou, Zehui Lu, Shaoshuai Mou
Best Student Paper Award, 2024 IEEE 7th International Conference on Industrial Cyber-Physical Systems (ICPS), 2024
[PDF] / [Video]

Real-Time Multi-Robot Mission Planning in Cluttered Environment
Zehui Lu, Tianyu Zhou, Shaoshuai Mou
Robotics, 2024
[PDF] / [Video] / [Code]

Patents

Systems and Methods for Joint Design of Actuators and Control for Robots
US patent application filed, 2024

Systems and Methods for Controlling a Motor with Dynamically Parameterized Trajectory Estimation
US patent application filed, 2024