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Consensus Control of Nonlinear Stochastic Multiagent Systems With Unknown and Time-Varying Control Coefficients Based on Novel Nussbaum Functions
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
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
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
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 |
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
Fractional Order Meta-Reinforcement Learning for Space Non-cooperative Object Active Visual Tracking
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
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
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
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
Composite Safety Collaborative Control for Multiple Nonholonomic Vehicles against Dual Motion Windups
2024 43rd Chinese Control Conference (CCC)
Year: 2024 | Conference Paper |
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
Fuzzy-based filtering of autonomous vehicle system via memory-based event-triggered mechanism
2024 3rd Conference on Fully Actuated System Theory and Applications (FASTA)
Year: 2024 | Conference Paper |
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
Event-Triggered Fuzzy Yaw Control of Six-Wheel Skid-Steer Vehicles
Yaoyao Tan;Xiaojie Su;Yufeng Tian;Xiaoyu Ma;Zhenshan Bing;Alois Knoll
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
Enclose and Track a Target of Mobile Robot With Motion and Field of View Constraints Based on Relative Position Measurement
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
Finite-Time Control for Multiple Time Delayed Switched Random Systems via a k-Step Fault Estimation Technique
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
Adaptive Fuzzy Sliding-Mode Fixed-Time Control for Quadrotor Unmanned Aerial Vehicles With Prescribed Performance
IEEE Transactions on Fuzzy Systems
Cited by: Papers (3)
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
Multiple Observer Adaptive Fusion for Uncertainty Estimation and Its Application to Wheel Velocity Systems
IEEE Transactions on Cybernetics
Cited by: Papers (4)
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
Adaptive Neural Cooperative Control of Multirobot Systems With Input Quantization
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
Motion Tracking Control of Six-Wheel Skid-Steering Electric Vehicles via Two-Level-Sequence-Based Integrated Algorithm
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
Efficient Stereo Matching Using Swin Transformer and Multilevel Feature Consistency in Autonomous Mobile Systems
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
Adaptive Control of Strict-Feedback Nonlinear Systems Under Denial-of-Service: A Synthetic Analysis
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
Multirobot Target Searches in Unknown Environments Via Waypoint Planning System
Lishuai Yu;Xiaojie Su;Yufeng Tian;Jiangshuai Huang;Chao Shen
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
Long-Term Tracking of Evasive Urban Target Based on Intention Inference and Deep Reinforcement Learning
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
Sliding Mode Fuzzy Control of Stochastic Nonlinear Systems Under Cyber-Attacks
IEEE Transactions on Cybernetics
Cited by: Papers (8)
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
Disturbance-Observer-Based Hierarchical Control for Vehicle Front Steering: Interval Type-2 Fuzzy System Approach
IEEE Transactions on Fuzzy Systems
Cited by: Papers (7)
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
Impulsive Consensus of One-Sided Lipschitz Multi-Agent Systems With Deception Attacks and Stochastic Perturbation
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
Performance-Driven Safe Bayesian Optimization for Intelligent Tuning of High-Order Cascade Systems
Tao Jiang;Xiaojie Su;Jiangshuai Huang;Zhenshan Bing;Alois Knoll
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
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
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
Trajectory Tracking Control of Human Support Robots via Adaptive Sliding-Mode Approach
IEEE Transactions on Cybernetics
Cited by: Papers (10)
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
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