Kilhwan Kim - IEEE Xplore Author Profile

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Author details

Kilhwan Kim

Publications

7

Citations

11

Publications by Year

20092014

Co-Authors:

Chulho ChungTaewook ChungYoungmin JungYunho JungJeaseok Kim

Show All Co-Authors (11)

Kilhwan Kim

Affiliation

Department of Electrical and Electronic Engineering

Yonsei University

Seoul, Korea

Publication Topics

Additive Noise,
Bit Error Rate,
Fast Fourier Transform,
Federal Communications Commission,
Forward Error Correction,
Hardware Complexity,
Multiple-input Multiple-output,
Multiple-input Multiple-output Systems,
Subband,
Bit Error Rate Performance,
Candidate List,
Channel Realizations

Biography

Kilhwan Kim (S'10) received B.S. and M.S. degrees in electrical and electronic engineering from Yonsei University, Seoul, Korea, in 2006 and 2008, respectively, and is currently pursuing his Ph. D degree at Yonsei University. His research interests include the signal processing algorithm and SoC implementation for wireless communication systems such as WPAN, WLAN, and WMAN.(Based on document published on 3 November 2014).

Publications

7

Citations

11

Publications by Year

20092014

Co-Authors:

Chulho Chung
Taewook Chung
Youngmin Jung
Yunho Jung
Jeaseok Kim

Show All Co-Authors (11)

Author's Published Works

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Showing 1-25 of 135 results

Journals (75)

Conferences (56)

Early Access Articles (2)

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Consensus Control of Nonlinear Stochastic Multiagent Systems With Unknown and Time-Varying Control Coefficients Based on Novel Nussbaum Functions

Baoyu Wen;Jiangshuai Huang;Xiaojie Su;Yue Yang

IEEE Transactions on Systems, Man, and Cybernetics: Systems

Year: 2025 | Volume: 55, Issue: 3 | Journal Article |

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This article investigates the distributed control of a group of stochastic high-order nonlinear systems in which the subsystems are with unknown and time-varying control coefficients of unknown signs, inherent nonlinear drift and diffusion terms. To solve the control problem with unknown control directions, where traditional available Nussbaum functions are not applicable for the consensus of stoc...Show More

Consensus Control of Nonlinear Stochastic Multiagent Systems With Unknown and Time-Varying Control Coefficients Based on Novel Nussbaum Functions

Baoyu Wen;Jiangshuai Huang;Xiaojie Su;Yue Yang

IEEE Transactions on Systems, Man, and Cybernetics: Systems

Year: 2025 | Volume: 55, Issue: 3 | Journal Article |

Cooperative Task Assignment for Aerial-Ground Detection Systems via a Novel Hybrid Genetic Method

Lishuai Yu;Yue Yang;Xiaojie Su;Shaoxin Sun;Tao Jiang;Jiangshuai Huang

IEEE Transactions on Industrial Electronics

Year: 2025 | Volume: 72, Issue: 4 | Journal Article |

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This study focuses on cooperative task assignment for aerial-ground detection systems utilizing a hybrid genetic algorithm (HGA) with dual-layer chromosomes. It addresses nonroad network constraints, task unreachability, and practical factors such as power, capacity, and waiting time. A mixed integer linear programming model is established for aerial-ground cooperative task assignment. A HGA with ...Show More

Cooperative Task Assignment for Aerial-Ground Detection Systems via a Novel Hybrid Genetic Method

Lishuai Yu;Yue Yang;Xiaojie Su;Shaoxin Sun;Tao Jiang;Jiangshuai Huang

IEEE Transactions on Industrial Electronics

Year: 2025 | Volume: 72, Issue: 4 | Journal Article |

Event-Triggered Unified Performance State Estimation for Neural Networks with Time-Varying Delays

Yufeng Tian;Xiaojie Su;Peng Shi;Péter Galambos;Chao Shen;Linsong Zhang

2024 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

Year: 2024 | Conference Paper |

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This paper tackles the problem of event-triggered unified performance state estimation in neural networks with time-varying delays. A novel event-triggered methodology is introduced, aiming to balance the performance of the state estimator and the network's communication bandwidth. The proposed method leverages a triggered-parameter-dependent integral inequality with matrices that consider the eve...Show More

Event-Triggered Unified Performance State Estimation for Neural Networks with Time-Varying Delays

Yufeng Tian;Xiaojie Su;Peng Shi;Péter Galambos;Chao Shen;Linsong Zhang

2024 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

Year: 2024 | Conference Paper |

Fractional Order Meta-Reinforcement Learning for Space Non-cooperative Object Active Visual Tracking

ZhongLiang Yu;XiaoJie Su;GuangHui Sun

IEEE Transactions on Aerospace and Electronic Systems

Year: 2024 | Early Access Article |

This article primarily addresses the challenge of actively tracking noncooperative objects in aerospace, where the chaser continuously tracks noncooperative targets. Traditional approaches treat object tracking and chaser control as separate entities, and make system integration difficult. To overcome these challenges, we use fractional-order meta-reinforcement learning for active visual tracking ...Show More

Fractional Order Meta-Reinforcement Learning for Space Non-cooperative Object Active Visual Tracking

ZhongLiang Yu;XiaoJie Su;GuangHui Sun

IEEE Transactions on Aerospace and Electronic Systems

Year: 2024 | Early Access Article |

Adaptive Oscillation-Suppression Control for Distributed Nonholonomic Vehicle Safe Formation With Nested Input Saturation

Zhi Zheng;Tao Jiang;Jianxiang Wang;Xiaojie Su;Jiangshuai Huang;Zhenshan Bing;Alois Knoll

IEEE Transactions on Automation Science and Engineering

Year: 2024 | Early Access Article |

Nonholonomic vehicles in distributed networks are prone to triggering nested velocity and acceleration saturation during reactive safety formations, exacerbating oscillations. This paper proposes a hybrid secure distributed collaborative frame-work, integrating compound adaptive anti-windup strategies with vehicle kinematics and safe geofences to achieve smooth and effective obstacle and collision...Show More

Adaptive Oscillation-Suppression Control for Distributed Nonholonomic Vehicle Safe Formation With Nested Input Saturation

Zhi Zheng;Tao Jiang;Jianxiang Wang;Xiaojie Su;Jiangshuai Huang;Zhenshan Bing;Alois Knoll

IEEE Transactions on Automation Science and Engineering

Year: 2024 | Early Access Article |

Language-Conditioned Imitation Learning With Base Skill Priors Under Unstructured Data

Hongkuan Zhou;Zhenshan Bing;Xiangtong Yao;Xiaojie Su;Chenguang Yang;Kai Huang;Alois Knoll

IEEE Robotics and Automation Letters

Year: 2024 | Volume: 9, Issue: 11 | Journal Article |

Cited by: Papers (2)

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The growing interest in language-conditioned robot manipulation aims to develop robots capable of understanding and executing complex tasks, with the objective of enabling robots to interpret language commands and manipulate objects accordingly. While language-conditioned approaches demonstrate impressive capabilities for addressing tasks in familiar environments, they encounter limitations in ada...Show More

Language-Conditioned Imitation Learning With Base Skill Priors Under Unstructured Data

Hongkuan Zhou;Zhenshan Bing;Xiangtong Yao;Xiaojie Su;Chenguang Yang;Kai Huang;Alois Knoll

IEEE Robotics and Automation Letters

Year: 2024 | Volume: 9, Issue: 11 | Journal Article |

Composite Safety Collaborative Control for Multiple Nonholonomic Vehicles against Dual Motion Windups

Tao Jiang;Zhi Zheng;Xiaojie Su

2024 43rd Chinese Control Conference (CCC)

Year: 2024 | Conference Paper |

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This paper introduces a novel secure collaborative framework for multiple nonholonomic vehicles, featuring a forewarning switching mechanism, adaptive anti-windup strategies, and nonholonomic vehicle kinematics to ensure efficient obstacle and collision avoidance under velocity and acceleration windups. The framework’s core is a secure trajectory generation algorithm that leverages acceleration en...Show More

Composite Safety Collaborative Control for Multiple Nonholonomic Vehicles against Dual Motion Windups

Tao Jiang;Zhi Zheng;Xiaojie Su

2024 43rd Chinese Control Conference (CCC)

Year: 2024 | Conference Paper |

Fuzzy-based filtering of autonomous vehicle system via memory-based event-triggered mechanism

Yaxin Gu;Weiyi Zhao;Xinxin Liu;Xiaojie Su;Jianxing Liu

2024 3rd Conference on Fully Actuated System Theory and Applications (FASTA)

Year: 2024 | Conference Paper |

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The fuzzy reduced-based filtering problem within autonomous vehicles featuring dynamic positioning systems is employed via an enhanced event-triggered scheme. A reduced-based filtering approach is proposed capable of approximating the original high-order model with a given system performance level. The stability analysis is solved by employing the memorybased event-triggered scheme. Thus the usage...Show More

Fuzzy-based filtering of autonomous vehicle system via memory-based event-triggered mechanism

Yaxin Gu;Weiyi Zhao;Xinxin Liu;Xiaojie Su;Jianxing Liu

2024 3rd Conference on Fully Actuated System Theory and Applications (FASTA)

Year: 2024 | Conference Paper |

Event-Triggered Fuzzy Yaw Control of Six-Wheel Skid-Steer Vehicles

Yaoyao Tan;Xiaojie Su;Yufeng Tian;Xiaoyu Ma;Zhenshan Bing;Alois Knoll

IEEE Transactions on Systems, Man, and Cybernetics: Systems

Year: 2024 | Volume: 54, Issue: 10 | Journal Article |

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Six-wheel skid-steer vehicles are widely used in the real world because of their special steering structure and load-carrying capacity. In this article, we aim to study the event-triggered fuzzy yaw control of six-wheel skid-steer vehicles. The nonlinear lateral dynamics of a six-wheel skid-steer vehicle is modeled using the Takagi-Sugeno (T-S) fuzzy system with irregular fuzzy rules, in which mor...Show More

Event-Triggered Fuzzy Yaw Control of Six-Wheel Skid-Steer Vehicles

Yaoyao Tan;Xiaojie Su;Yufeng Tian;Xiaoyu Ma;Zhenshan Bing;Alois Knoll

IEEE Transactions on Systems, Man, and Cybernetics: Systems

Year: 2024 | Volume: 54, Issue: 10 | Journal Article |

Enclose and Track a Target of Mobile Robot With Motion and Field of View Constraints Based on Relative Position Measurement

Yu Wen;Jiangshuai Huang;Shaoxin Sun;Xiaojie Su

IEEE Transactions on Artificial Intelligence

Year: 2024 | Volume: 5, Issue: 10 | Journal Article |

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This article presents a systematic design approach to address the challenge of enclosing and tracking a moving target in multirobot systems while accounting for motion and field of view (FOV) constraints. First, a reference trajectory is designed based on relative position measurement which also conforms to the motion and FOV constraints. Subsequently, considering the uncertainty of mobile robots,...Show More

Enclose and Track a Target of Mobile Robot With Motion and Field of View Constraints Based on Relative Position Measurement

Yu Wen;Jiangshuai Huang;Shaoxin Sun;Xiaojie Su

IEEE Transactions on Artificial Intelligence

Year: 2024 | Volume: 5, Issue: 10 | Journal Article |

Finite-Time Control for Multiple Time Delayed Switched Random Systems via a k-Step Fault Estimation Technique

Shaoxin Sun;Xiaojie Su;Jian Han;Yuliang Cai

IEEE Transactions on Systems, Man, and Cybernetics: Systems

Year: 2024 | Volume: 54, Issue: 8 | Journal Article |

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This article focuses on the finite-time fault estimation observer and controller design for switched random models subject to multiple time-varying delays. It is assumed that there exist actuator faults, model nonlinearities, external disturbances, and sensor faults in these systems. First, an observer is proposed to obtain the estimations of the system states, disturbances, as well as sensor and ...Show More

Finite-Time Control for Multiple Time Delayed Switched Random Systems via a k-Step Fault Estimation Technique

Shaoxin Sun;Xiaojie Su;Jian Han;Yuliang Cai

IEEE Transactions on Systems, Man, and Cybernetics: Systems

Year: 2024 | Volume: 54, Issue: 8 | Journal Article |

Adaptive Fuzzy Sliding-Mode Fixed-Time Control for Quadrotor Unmanned Aerial Vehicles With Prescribed Performance

Feng Hu;Tiedong Ma;Xiaojie Su

IEEE Transactions on Fuzzy Systems

Year: 2024 | Volume: 32, Issue: 7 | Journal Article |

Cited by: Papers (3)

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In this article, an adaptive fuzzy fixed-time sliding-mode formation control scheme with prescribed performance is proposed for quadrotor unmanned aerial vehicles (UAVs) under uncertainties and external disturbances. First of all, for the position subsystem and attitude subsystem, in order to achieve the formation goal, the desired position and attitude of UAVs are generated by adaptive control me...Show More

Adaptive Fuzzy Sliding-Mode Fixed-Time Control for Quadrotor Unmanned Aerial Vehicles With Prescribed Performance

Feng Hu;Tiedong Ma;Xiaojie Su

IEEE Transactions on Fuzzy Systems

Year: 2024 | Volume: 32, Issue: 7 | Journal Article |

Multiple Observer Adaptive Fusion for Uncertainty Estimation and Its Application to Wheel Velocity Systems

Zhi Zheng;Tao Jiang;Xiaojie Su;Jiangshuai Huang;Xiaoyu Ma

IEEE Transactions on Cybernetics

Year: 2024 | Volume: 54, Issue: 9 | Journal Article |

Cited by: Papers (4)

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Uncertainty estimation in real-world scenarios is challenged by complexities arising from peaking phenomena and measurement noises. This article introduces a novel scheme for practical uncertainty estimation to mitigate peaking dynamics and enhance overall dynamic behavior. A fusion estimation framework for lumped uncertainties using multiple extended state observers (ESOs) is constructed, and the...Show More

Multiple Observer Adaptive Fusion for Uncertainty Estimation and Its Application to Wheel Velocity Systems

Zhi Zheng;Tao Jiang;Xiaojie Su;Jiangshuai Huang;Xiaoyu Ma

IEEE Transactions on Cybernetics

Year: 2024 | Volume: 54, Issue: 9 | Journal Article |

Adaptive Neural Cooperative Control of Multirobot Systems With Input Quantization

Tiedong Ma;Feng Hu;Xiaojie Su;Chao Shen;Xiaoyu Ma

IEEE Transactions on Cybernetics

Year: 2024 | Volume: 54, Issue: 9 | Journal Article |

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This article develops the adaptive neural cooperative control scheme for a group of mobile robots with a limited sensing range in presence of input quantization by a dynamic surface control technique. First, to make the controller design feasible, the original robotic system is transformed into a new fully actuated system using a transverse function. Then, taking into consideration the effects of ...Show More

Adaptive Neural Cooperative Control of Multirobot Systems With Input Quantization

Tiedong Ma;Feng Hu;Xiaojie Su;Chao Shen;Xiaoyu Ma

IEEE Transactions on Cybernetics

Year: 2024 | Volume: 54, Issue: 9 | Journal Article |

Motion Tracking Control of Six-Wheel Skid-Steering Electric Vehicles via Two-Level-Sequence-Based Integrated Algorithm

Yaoyao Tan;Xiaojie Su;Chao Shen;Jiangshuai Huang

IEEE Transactions on Industrial Electronics

Year: 2024 | Volume: 71, Issue: 11 | Journal Article |

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The hierarchical control structure consisting of an upper control system and a lower control system has been widely used to handle the motion tracking control problem for vehicle motion systems under weak disturbances. However, strong disturbances often exist in actual systems and pose a certain threat to control systems. In this article, a two-level-sequence-based integrated algorithm is proposed...Show More

Motion Tracking Control of Six-Wheel Skid-Steering Electric Vehicles via Two-Level-Sequence-Based Integrated Algorithm

Yaoyao Tan;Xiaojie Su;Chao Shen;Jiangshuai Huang

IEEE Transactions on Industrial Electronics

Year: 2024 | Volume: 71, Issue: 11 | Journal Article |

Efficient Stereo Matching Using Swin Transformer and Multilevel Feature Consistency in Autonomous Mobile Systems

Xiaojie Su;Shimin Liu;Rui Li;Zhenshan Bing;Alois Knoll

IEEE Transactions on Industrial Informatics

Year: 2024 | Volume: 20, Issue: 5 | Journal Article |

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In this article, we propose a Swin Transformer and multilevel Feature Consistency based Network (STFC-Net), which is a multilevel cascade stereo matching method to predict the disparity in a coarse-to-fine manner. 1) To alleviate the problem of the limited receptive field of existing convolutional neural network (CNN)-based methods, inspired by the capability of modeling the large-scale dependence...Show More

Efficient Stereo Matching Using Swin Transformer and Multilevel Feature Consistency in Autonomous Mobile Systems

Xiaojie Su;Shimin Liu;Rui Li;Zhenshan Bing;Alois Knoll

IEEE Transactions on Industrial Informatics

Year: 2024 | Volume: 20, Issue: 5 | Journal Article |

Adaptive Control of Strict-Feedback Nonlinear Systems Under Denial-of-Service: A Synthetic Analysis

Rui Gao;Jiangshuai Huang;Xiaojie Su;Ling Zhao

IEEE Transactions on Information Forensics and Security

Year: 2024 | Volume: 19 | Journal Article |

Cited by: Papers (3)

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This paper investigates the adaptive control for a class of uncertain nonlinear systems under denial-of-service (DoS) attacks. We analyze the closed-loop system stability under DoS attacks in terms of attack duration, attack frequency and resting time duration respectively. Three scenarios of DoS attacks against the system stability are considered. Firstly, it is shown that if the duration of each...Show More

Adaptive Control of Strict-Feedback Nonlinear Systems Under Denial-of-Service: A Synthetic Analysis

Rui Gao;Jiangshuai Huang;Xiaojie Su;Ling Zhao

IEEE Transactions on Information Forensics and Security

Year: 2024 | Volume: 19 | Journal Article |

Multirobot Target Searches in Unknown Environments Via Waypoint Planning System

Lishuai Yu;Xiaojie Su;Yufeng Tian;Jiangshuai Huang;Chao Shen

IEEE Transactions on Industrial Electronics

Year: 2024 | Volume: 71, Issue: 7 | Journal Article |

Cited by: Papers (1)

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Target searches by multiple robots in unknown environments have been widely applied in practical applications, such as rescues in hazardous areas, environmental monitoring, and locating leak sources. However, in existing methods, it is difficult to find all the information-lack targets in the unknown environment efficiently. To fill this gap, we propose a multirobot waypoint planning system consis...Show More

Multirobot Target Searches in Unknown Environments Via Waypoint Planning System

Lishuai Yu;Xiaojie Su;Yufeng Tian;Jiangshuai Huang;Chao Shen

IEEE Transactions on Industrial Electronics

Year: 2024 | Volume: 71, Issue: 7 | Journal Article |

Long-Term Tracking of Evasive Urban Target Based on Intention Inference and Deep Reinforcement Learning

Peng Yan;Jifeng Guo;Xiaojie Su;Chengchao Bai

IEEE Transactions on Neural Networks and Learning Systems

Year: 2024 | Volume: 35, Issue: 11 | Journal Article |

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Unmanned aerial vehicles (UAVs) have been widely used in urban target-tracking tasks, where long-term tracking of evasive targets is of great significance for public safety. However, the tracked targets are easily lost due to the evasive behavior of the targets and the unstructured characteristics of the urban environment. To address this issue, this article proposes a hybrid target-tracking appro...Show More

Long-Term Tracking of Evasive Urban Target Based on Intention Inference and Deep Reinforcement Learning

Peng Yan;Jifeng Guo;Xiaojie Su;Chengchao Bai

IEEE Transactions on Neural Networks and Learning Systems

Year: 2024 | Volume: 35, Issue: 11 | Journal Article |

Sliding Mode Fuzzy Control of Stochastic Nonlinear Systems Under Cyber-Attacks

Yue Yang;Baoyu Wen;Xiaojie Su;Jiangshuai Huang;Biao Liu

IEEE Transactions on Cybernetics

Year: 2024 | Volume: 54, Issue: 5 | Journal Article |

Cited by: Papers (8)

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In this article, the problem of integral sliding mode control (ISMC) for a class of nonlinear systems with stochastic characteristics under cyber-attack is investigated. The control system and the cyber-attack are modeled as an Itô-type stochastic differential equation. The stochastic nonlinear systems are approached by the Takagi–Sugeno fuzzy model. A dynamic ISMC scheme is applied and the states...Show More

Sliding Mode Fuzzy Control of Stochastic Nonlinear Systems Under Cyber-Attacks

Yue Yang;Baoyu Wen;Xiaojie Su;Jiangshuai Huang;Biao Liu

IEEE Transactions on Cybernetics

Year: 2024 | Volume: 54, Issue: 5 | Journal Article |

Disturbance-Observer-Based Hierarchical Control for Vehicle Front Steering: Interval Type-2 Fuzzy System Approach

Xiuming Yao;Zhe Sun;Xiaojie Su

IEEE Transactions on Fuzzy Systems

Year: 2024 | Volume: 32, Issue: 1 | Journal Article |

Cited by: Papers (7)

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This article addresses the composite hierarchical antidisturbance control issue for the front steering vehicle system with uncertain parameters. First, the front steering vehicle system is modeled as an interval type-2 Takagi–Sugeno (T–S) system, which contains the unknown disturbance matching the input channel and the norm bounded disturbance. Considering that the embedded membership functions of...Show More

Disturbance-Observer-Based Hierarchical Control for Vehicle Front Steering: Interval Type-2 Fuzzy System Approach

Xiuming Yao;Zhe Sun;Xiaojie Su

IEEE Transactions on Fuzzy Systems

Year: 2024 | Volume: 32, Issue: 1 | Journal Article |

Impulsive Consensus of One-Sided Lipschitz Multi-Agent Systems With Deception Attacks and Stochastic Perturbation

Zhengle Zhang;Tiedong Ma;Xiaojie Su;Xiaoyu Ma

IEEE Transactions on Artificial Intelligence

Year: 2024 | Volume: 5, Issue: 3 | Journal Article |

Cited by: Papers (2)

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This article addresses the consensus of one-sided Lipschitz multi-agent systems (MASs) subject to deception attacks and stochastic perturbation by using impulsive protocols. First, the one-sided Lipschitz condition is considered because it has a wider application range and less conservatism than general Lipschitz condition. Second, the impact of stochastic perturbation is considered, which is more...Show More

Impulsive Consensus of One-Sided Lipschitz Multi-Agent Systems With Deception Attacks and Stochastic Perturbation

Zhengle Zhang;Tiedong Ma;Xiaojie Su;Xiaoyu Ma

IEEE Transactions on Artificial Intelligence

Year: 2024 | Volume: 5, Issue: 3 | Journal Article |

Performance-Driven Safe Bayesian Optimization for Intelligent Tuning of High-Order Cascade Systems

Tao Jiang;Xiaojie Su;Jiangshuai Huang;Zhenshan Bing;Alois Knoll

IEEE Transactions on Artificial Intelligence

Year: 2024 | Volume: 5, Issue: 2 | Journal Article |

Cited by: Papers (2)

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Automatic parameter tuning of high-order cascade controllers suffers from sampling inefficiency and strong couplings. This work presents a performance-driven, systematic, and safe intelligent parameter-tuning framework for high-order cascade systems. To achieve data-efficient and noise-robust hyperparameter calibration, an intelligent tuning framework based on Bayesian optimization is proposed to ...Show More

Performance-Driven Safe Bayesian Optimization for Intelligent Tuning of High-Order Cascade Systems

Tao Jiang;Xiaojie Su;Jiangshuai Huang;Zhenshan Bing;Alois Knoll

IEEE Transactions on Artificial Intelligence

Year: 2024 | Volume: 5, Issue: 2 | Journal Article |

Task-Based Compliance Control for Bottle Screw Manipulation With a Dual-Arm Robot

Chunting Jiao;Lin Zhang;Xiaojie Su;Jiangshuai Huang;Zhenshan Bing;Alois Knoll

IEEE Transactions on Industrial Electronics

Year: 2024 | Volume: 71, Issue: 2 | Journal Article |

Cited by: Papers (1)

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In this article, a novel task-based compliance control approach for a dual-arm robot is presented with a bottle screw task. The presented approach aims at overcoming uncertainties from the object model and contact forces during the bottle screw task. A novel framework is proposed to synthesize the task motion planning and compliance control that ensure desired performance of both accuracy and comp...Show More

Task-Based Compliance Control for Bottle Screw Manipulation With a Dual-Arm Robot

Chunting Jiao;Lin Zhang;Xiaojie Su;Jiangshuai Huang;Zhenshan Bing;Alois Knoll

IEEE Transactions on Industrial Electronics

Year: 2024 | Volume: 71, Issue: 2 | Journal Article |

Trajectory Tracking Control of Human Support Robots via Adaptive Sliding-Mode Approach

Xiaojie Su;Fandi Qing;Hongbin Chang;Shuoyu Wang

IEEE Transactions on Cybernetics

Year: 2024 | Volume: 54, Issue: 3 | Journal Article |

Cited by: Papers (10)

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In this article, the tracking problem of the adaptive sliding-mode control (SMC) design for human support robots based on a disturbance observer is investigated. First, a finite-time controller using nonsingular fast terminal SMC is proposed. Then, a robust disturbance observer is developed to estimate system uncertainties and disturbances. Simultaneously, to deal with the unknown bounded disturba...Show More

Trajectory Tracking Control of Human Support Robots via Adaptive Sliding-Mode Approach

Xiaojie Su;Fandi Qing;Hongbin Chang;Shuoyu Wang

IEEE Transactions on Cybernetics

Year: 2024 | Volume: 54, Issue: 3 | Journal Article |

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