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学者姓名：黄捷
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针对具有有界时变干扰的无人车辆跟踪控制问题,提出了一种策略迭代智能跟踪控制方法.通过设计自适应干扰消解器对外界干扰进行补偿,确保了哈密顿-雅克比-贝尔曼(Hamilton-Jacobi-Bellman,HJB)方程的有效性;通过设计标识符网络对未知车辆动力学进行估计,并利用重构的标识符跟踪误差推导出全新的HJB方程;借助演员-评论家网络,在线获得标识符估计状态下的无人车辆最优跟踪控制策略.基于李雅普诺夫理论,证明了标识符跟踪误差、标识符近似误差、神经网络权值误差均为半全局最终一致有界,无人车辆可以达到理想的跟踪性能.仿真结果表明:在上界为10.331 1 N的外界干扰影响下,该方法的跟踪误差至少收敛到了 0.054 8 m,具有良好的抗干扰性能,与滑模控制方法相比,跟踪精度提高了 40％,控制代价减少了 22％.
Keyword ：
无人车辆 无人车辆 时变扰动 时变扰动 标识符网络 标识符网络 策略学习 策略学习 跟踪控制 跟踪控制
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| GB/T 7714 | 黄捷 . 一种时变扰动下的无人车辆智能跟踪控制方法 [J]. | 系统仿真学报 , 2025 , 37 (4) : 1063-1075 . |
| MLA | 黄捷 . "一种时变扰动下的无人车辆智能跟踪控制方法" . | 系统仿真学报 37 . 4 (2025) : 1063-1075 . |
| APA | 黄捷 . 一种时变扰动下的无人车辆智能跟踪控制方法 . | 系统仿真学报 , 2025 , 37 (4) , 1063-1075 . |
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Under the dual constraints of preset time limits and coupled nonlinear dynamics, it is extremely challenging to achieve cooperative control and strong robustness guarantees for multi-agent systems. This paper focuses on the fixed-time formation control for nonholonomic wheeled mobile robots (NWMRs) via time-base generator (TBG). To begin with, distributed fixed-time formation controllers are developed to eliminate the dependence of traditional controllers on initial values. Subsequently, TBG incorporates time-dependent functions to design control strategies with either asymptotic or non-asymptotic characteristics, ensuring system convergence within a fixed time. Limiting the magnitude of control inputs not only safeguards actuators but also improves the system's robustness to external disturbances and model uncertainties. Additionally, a distributed observer based on a TBG is designed to enable each follower to estimate the state of the virtual leader within a fixed time. The observers of the followers can operate independently, eliminating the need for a global clock or precise synchronization, thereby simplifying the system design. Eventually, the effectiveness and superiority of the controller are verified by simulation. Compared with the traditional fixed-time consensus protocol, the proposed protocol reduces the amplitude of the initial linear velocity by 32.1% and the angular velocity by 32.2%. The settlement time can be preset offline, and the estimation of the settlement time is significantly more accurate.
Keyword ：
fixed-time consensus fixed-time consensus formation control formation control multiple nonholonomic wheeled mobile robots multiple nonholonomic wheeled mobile robots time-base generator time-base generator
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| GB/T 7714 | Huang, Jie , Zhao, Tingting , Lu, Wenjin et al. Practical Fixed-Time Formation Control for Wheeled Robots: An Approach Based on Time-Base Generators [J]. | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL , 2025 . |
| MLA | Huang, Jie et al. "Practical Fixed-Time Formation Control for Wheeled Robots: An Approach Based on Time-Base Generators" . | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL (2025) . |
| APA | Huang, Jie , Zhao, Tingting , Lu, Wenjin , Zeng, Jiazhou , Chen, Yutao . Practical Fixed-Time Formation Control for Wheeled Robots: An Approach Based on Time-Base Generators . | INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL , 2025 . |
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This paper presents a novel adaptive twisting sliding mode control strategy combined with a speed-sensorless cascade nonlinear observer for the high-performance control of linear induction motors (LIMs). The primary objective is to achieve accurate speed and rotor flux tracking without relying on mechanical sensors, thereby enhancing system reliability and reducing hardware complexity. For this purpose, a cascade nonlinear observer is designed and applied to the class of nonlinear affine systems representing LIM dynamics. Based on the interconnected form of the LIM mathematical model, the observer simultaneously reconstructs both the motor speed and rotor fluxes in real time. The stability of the proposed cascade observer is analyzed using Lyapunov theory, ensuring the convergence of the estimation errors under bounded disturbances. Complementing the observer, two adaptive gain twisting sliding mode controllers are developed: one for speed tracking and another for flux regulation. These controllers are robust against external disturbances and parameter uncertainties, even when the bounds of such disturbances are unknown. This feature significantly enhances the practical applicability of the control system in real-world industrial environments. To validate the performance and robustness of the proposed control scheme, a hardware-in-the-loop (HIL) experiment was conducted. Comparative studies with existing state-of-the-art sensorless control methods demonstrate that the proposed cascade nonlinear observer-based approach achieves faster convergence, higher estimation accuracy, and better disturbance rejection capabilities, while requiring less computational effort. © 2025 by the authors.
Keyword ：
adaptation algorithm adaptation algorithm adaptive twisting controller adaptive twisting controller cascade nonlinear observer cascade nonlinear observer linear induction motor linear induction motor speed-sensorless speed-sensorless stability analysis stability analysis
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| GB/T 7714 | Zhang, L. , Xie, X. , Wu, D. et al. Cascade Nonlinear Observer-Based Speed-Sensorless Adaptive Twisting Sliding Mode Control of Linear Induction Motor [J]. | Actuators , 2025 , 14 (7) . |
| MLA | Zhang, L. et al. "Cascade Nonlinear Observer-Based Speed-Sensorless Adaptive Twisting Sliding Mode Control of Linear Induction Motor" . | Actuators 14 . 7 (2025) . |
| APA | Zhang, L. , Xie, X. , Wu, D. , Wang, Z. , Wang, J. , Jing, J. et al. Cascade Nonlinear Observer-Based Speed-Sensorless Adaptive Twisting Sliding Mode Control of Linear Induction Motor . | Actuators , 2025 , 14 (7) . |
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This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking accuracy. Moreover, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.
Keyword ：
Adaptive integral surge line-of-sight Adaptive integral surge line-of-sight approximation approximation robotic fish robotic fish speed observer speed observer
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| GB/T 7714 | Li, Dongfang , Huang, Jie , Law, Rob et al. Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes [J]. | IEEE-CAA JOURNAL OF AUTOMATICA SINICA , 2025 , 12 (1) : 126-137 . |
| MLA | Li, Dongfang et al. "Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes" . | IEEE-CAA JOURNAL OF AUTOMATICA SINICA 12 . 1 (2025) : 126-137 . |
| APA | Li, Dongfang , Huang, Jie , Law, Rob , Xu, Xin , Zhu, Limin , Wu, Edmond Q. . Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes . | IEEE-CAA JOURNAL OF AUTOMATICA SINICA , 2025 , 12 (1) , 126-137 . |
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An intelligent policy iteration tracking control method is proposed for the tracking control problem with bounded time-varying disturbances. An adaptive disturbance compensator is designed to counteract the bounded disturbance and guarantee the validity of the Hamilton-Jacobi-Bellman (HJB) equation. An identifier network is proposed to estimate the unknown vehicle dynamics, and a new HJB equation is derived using the reconstructed identifier tracking error. An online optimal tracking control strategy for unmanned vehicles is obtained in the state of identifier estimation with the assistance of actor-critic network. Based on Lyapunov theory, it is demonstrated that the identifier tracking error, identifier approximation error and neural network weight errors are all semi-globally uniformly ultimately bounded, and the unmanned vehicle can achieve ideal tracking performance. Simulation results indicate that with a disturbance upper-bounded by 10.331 1 N, the tracking error converges to at least 0.054 8 m which exhibits better anti-interference performance. Compared with sliding mode control, tracking accuracy is improved by 40% and control cost is reduced by 22%. © 2025 Acta Simulata Systematica Sinica. All rights reserved.
Keyword ：
Magnetic levitation vehicles Magnetic levitation vehicles Optimal control systems Optimal control systems State estimation State estimation Time varying control systems Time varying control systems
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| GB/T 7714 | Huang, Jie . An Intelligent Tracking Control Method for Unmanned Vehicles with Time-varying Disturbances [J]. | Journal of System Simulation , 2025 , 37 (4) : 1063-1075 . |
| MLA | Huang, Jie . "An Intelligent Tracking Control Method for Unmanned Vehicles with Time-varying Disturbances" . | Journal of System Simulation 37 . 4 (2025) : 1063-1075 . |
| APA | Huang, Jie . An Intelligent Tracking Control Method for Unmanned Vehicles with Time-varying Disturbances . | Journal of System Simulation , 2025 , 37 (4) , 1063-1075 . |
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This paper proposes a leader-follower control method for multiple snake robot formation. Based on the simplified snake robot model, this work improves the traditional Serpenoid gait mode to a time-varying frequency form. Combined with the line-of-sight (LOS) method, a snake robot trajectory tracking controller is designed to enable the leader to track the desired trajectory at the ideal velocity. Then, the leader-follower following error system of a snake robot formation is established. In this framework, the follower can maintain a preset geometric position relationship with the leader to ensure the fast convergence of the formation location. Lyapunov's theory proves the stability of a snake robot formation error. Simulation and experimental results show that this strategy has the advantages of faster convergence speed and higher tracking accuracy than other current methods.
Keyword ：
Formation control Formation control Leader-follower Leader-follower Snake robot Snake robot Trajectory tracking Trajectory tracking
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| GB/T 7714 | Wang, Wu , Du, Zhihang , Li, Dongfang et al. Leader-follower method-based formation control for snake robots [J]. | ISA TRANSACTIONS , 2025 , 156 : 609-619 . |
| MLA | Wang, Wu et al. "Leader-follower method-based formation control for snake robots" . | ISA TRANSACTIONS 156 (2025) : 609-619 . |
| APA | Wang, Wu , Du, Zhihang , Li, Dongfang , Huang, Jie . Leader-follower method-based formation control for snake robots . | ISA TRANSACTIONS , 2025 , 156 , 609-619 . |
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This paper proposes an efficient fast-optimal balanced differential game (DG) approach to address the formation control problem in dynamic environments for networked multi-agent systems (MASs). Compared to existing receding horizon distributed differential game (RH-DDG) approaches, the proposed approach employs a two-layer game structure to balance optimality and real-time performance, with a focus on formation control, collision avoidance and obstacle avoidance. In the offline layer, the problem is converted into a distributed differential game (DDG) where each agent computes strategies using distributed information from locally neighboring agents. The strategy of each agent self-enforces a unique global Nash equilibrium (G-NE) with a strongly connected communication topology, providing an optimal reference trajectory for the online game. In the online layer, a receding horizon differential game with an event-trigger mechanism (RH-DGET) is presented to track the G-NE trajectory. Ego players are triggered to update online Nash strategies only when the event-triggering condition is satisfied, ensuring the real-time safety certificate. Rigorous proofs demonstrate that the online Nash strategies converge to the offline G-NE until the trigger ends, and a certain dwell time condition is given to prevent the Zeno behavior. Simulation results validate the effectiveness of the proposed approach. © 2025 World Scientific Publishing Company.
Keyword ：
Computation theory Computation theory Game theory Game theory Multi agent systems Multi agent systems Networked control systems Networked control systems
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| GB/T 7714 | Xue, Wenyan , Huang, Jie , Chen, Nan et al. Distributed Formation Control of Multi-Agent Systems: A Novel Fast-Optimal Balanced Differential Game Approach [J]. | Unmanned Systems , 2025 , 13 (1) : 211-231 . |
| MLA | Xue, Wenyan et al. "Distributed Formation Control of Multi-Agent Systems: A Novel Fast-Optimal Balanced Differential Game Approach" . | Unmanned Systems 13 . 1 (2025) : 211-231 . |
| APA | Xue, Wenyan , Huang, Jie , Chen, Nan , Chen, Yutao , Lin, Dingci . Distributed Formation Control of Multi-Agent Systems: A Novel Fast-Optimal Balanced Differential Game Approach . | Unmanned Systems , 2025 , 13 (1) , 211-231 . |
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Differential privacy is an effective method to solve data privacy leakage. The common differential privacy method is achieved by adding privacy noises to the transmitted data, which may affect data accuracy. For the control system, data accuracy greatly affects the system performance. To circumvent this difficulty, we propose a novel privacy-preserved rolling optimization strategy (PP-ROS) for switched systems. The main contributions are reflected in three aspects: 1) The proposed PP-ROS is used to calculate the private control input by adding Laplace noise to the prediction and control horizons, instead of the transmitted data. 2) Privacy definitions of the prediction and control horizons are presented, and a private model predictive control (P-MPC) controller design is provided based on the PP-ROS. The P-MPC controller achieves the privacy of its parameters. 3) Under PP-ROS and P-MPC, the proof and calculation methods for the privacy levels of control input and system output are given. The results indicate that when noise is added to the horizons, both control input and system output are private. Finally, the availability and benefits of PP-ROS and P-MPC are demonstrated using two simulation examples and comparison results.
Keyword ：
Accuracy Accuracy Control horizon Control horizon differential privacy differential privacy Differential privacy Differential privacy Heuristic algorithms Heuristic algorithms model predictive control (MPC) model predictive control (MPC) Noise Noise Optimal control Optimal control prediction horizon prediction horizon Predictive control Predictive control Privacy Privacy Stability analysis Stability analysis switched systems switched systems Switched systems Switched systems System performance System performance
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| GB/T 7714 | Qi, Yiwen , Guo, Shitong , Ahn, Choon Ki et al. Privacy for Switched Systems Under MPC: A Privacy-Preserved Rolling Optimization Strategy [J]. | IEEE TRANSACTIONS ON CYBERNETICS , 2025 , 55 (5) : 2085-2097 . |
| MLA | Qi, Yiwen et al. "Privacy for Switched Systems Under MPC: A Privacy-Preserved Rolling Optimization Strategy" . | IEEE TRANSACTIONS ON CYBERNETICS 55 . 5 (2025) : 2085-2097 . |
| APA | Qi, Yiwen , Guo, Shitong , Ahn, Choon Ki , Tang, Yiwen , Huang, Jie . Privacy for Switched Systems Under MPC: A Privacy-Preserved Rolling Optimization Strategy . | IEEE TRANSACTIONS ON CYBERNETICS , 2025 , 55 (5) , 2085-2097 . |
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The concept of shared control has garnered significant attention within the realm of human-machine hybrid intelligence research. This study introduces a novel approach, specifically a dynamic control authority allocation method, for implementing shared control in autonomous vehicles. Unlike conventional mixed-initiative control techniques that blend human and vehicle inputs with weights determined by predefined index, the proposed method utilizes optimization-based techniques to obtain an optimal dynamic allocation for human and vehicle inputs that satisfies safety constraints. Specifically, a convex quadratic programm (QP) is constructed incorporating control barrier functions (CBF) for safety and control Lyapunov functions (CLF) for satisfying automated control objectives. The cost function of the QP is designed such that human weight increases with the magnitude of human input. A smooth control authority transition is obtained by optimizing over the change rate of the weight instead of the weight itself. The proposed method is verified in lane-changing scenarios with human-in-the-loop (HmIL) and hardware-in-the-loop (HdIL) experiments. Results show that the proposed method outperforms index-based control authority allocation method in terms of agility, safety and comfort.
Keyword ：
control authority allocation control authority allocation Dynamic scheduling Dynamic scheduling Human-machine systems Human-machine systems intelligent vehicle intelligent vehicle Process control Process control Real-time systems Real-time systems Resource management Resource management Safety Safety Shared control Shared control Standards Standards Vehicle dynamics Vehicle dynamics Vehicles Vehicles Wheels Wheels
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| GB/T 7714 | Chen, Yutao , Zhang, Hongliang , Chen, Haocong et al. Dynamic Control Authority Allocation in Indirect Shared Control for Steering Assistance [J]. | IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS , 2025 , 26 (3) : 3458-3470 . |
| MLA | Chen, Yutao et al. "Dynamic Control Authority Allocation in Indirect Shared Control for Steering Assistance" . | IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS 26 . 3 (2025) : 3458-3470 . |
| APA | Chen, Yutao , Zhang, Hongliang , Chen, Haocong , Huang, Jie , Wang, Bin , Xiong, Zixiang et al. Dynamic Control Authority Allocation in Indirect Shared Control for Steering Assistance . | IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS , 2025 , 26 (3) , 3458-3470 . |
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This article addresses the issue of the adaptive fractional-order fault-tolerant coordinated tracking control (FO-FTCTC) for multiple unmanned aerial vehicles and unmanned ground vehicles with fixed-time prescribed performance subjected to actuator and sensor faults under deception attacks. Deception attacks disrupt the sensor network, making the output and state unavailable. To achieve the tracking control of the system, the coordinate transformation method is developed, in which the attack gains are considered and the compromised states are utilized to design a control scheme. Then, the fixed-time prescribed performance function (PPF) is illustrated to transform the coordinated tracking errors (CTEs) into another error variable so that the unconventional errors are limited to the prescribed range. Next, the sliding-mode surface is built by utilizing the errors and fractional calculus. In addition, the radial basis function neural network is utilized to deal with the unknown term. Based on the error, the adaptive FO-FTCTC scheme by utilizing the radial basis function neural network (RBFNN), fractional calculus, and fixed-time PPF with prescribed performance can be achieved, which can strengthen the system performance. Based on the Lyapunov function approach, all vehicles can coordinately track their desired references and CTEs can be bounded within the prescribed boundary. Finally, simulation studies are provided to verify the validity of the developed FO-FTCTC scheme.
Keyword ：
Actuators Actuators Autonomous aerial vehicles Autonomous aerial vehicles Calculus Calculus Deception attacks Deception attacks Fault tolerance Fault tolerance fault-tolerant coordinated tracking control (FTCTC) fault-tolerant coordinated tracking control (FTCTC) Fault tolerant systems Fault tolerant systems fixed-time prescribed performance function (PPF) fixed-time prescribed performance function (PPF) Fractional calculus Fractional calculus fractional-order control fractional-order control Multi-agent systems Multi-agent systems multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs)
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| GB/T 7714 | Liu, Shangkun , Jiang, Bin , Mao, Zehui et al. Adaptive Fractional-Order Fault-Tolerant Coordinated Tracking Control of Heterogeneous Multiagent Systems Against Multiple Faults Under Deception Attacks [J]. | IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS , 2025 , 61 (2) : 1860-1870 . |
| MLA | Liu, Shangkun et al. "Adaptive Fractional-Order Fault-Tolerant Coordinated Tracking Control of Heterogeneous Multiagent Systems Against Multiple Faults Under Deception Attacks" . | IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS 61 . 2 (2025) : 1860-1870 . |
| APA | Liu, Shangkun , Jiang, Bin , Mao, Zehui , Zhang, Youmin , Huang, Jie . Adaptive Fractional-Order Fault-Tolerant Coordinated Tracking Control of Heterogeneous Multiagent Systems Against Multiple Faults Under Deception Attacks . | IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS , 2025 , 61 (2) , 1860-1870 . |
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