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学者姓名：黄捷
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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 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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The fixed/preassigned time (FT/PT) synchronization issue of multi-layer networks via a discontinuous control strategy is addressed in this paper. Firstly, the inventiveness FT theorem is established, and a precise estimation of setting time is given by employing mathematical induction, proof by contradiction, and maximum value theory. Subsequently, based on the FT stability results, several FT synchronization criteria for multi-layer networks are proposed by designing a periodically switching protocol. Additionally, the topological connectivity constraints are eliminated through the implementation of synchronized states as virtual nodes. Correspondingly, the PT synchronization issue is investigated by developing several extraordinary control strategies in which the control gains are finite. Ultimately, the feasibility of the developed control design and the established criteria is illustrated by two numerical examples. © 2024 Elsevier Ltd
Keyword ：
Fixed-time synchronization Fixed-time synchronization Multi-layer networks Multi-layer networks Periodically switching control Periodically switching control Preassigned-time synchronization Preassigned-time synchronization
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| GB/T 7714 | Zhao, T. , Hu, C. , Huang, J. et al. Fixed/Prescribed-time synchronization of multi-layer complex networks under switching control [J]. | Chaos, Solitons and Fractals , 2024 , 185 . |
| MLA | Zhao, T. et al. "Fixed/Prescribed-time synchronization of multi-layer complex networks under switching control" . | Chaos, Solitons and Fractals 185 (2024) . |
| APA | Zhao, T. , Hu, C. , Huang, J. , Yu, J. . Fixed/Prescribed-time synchronization of multi-layer complex networks under switching control . | Chaos, Solitons and Fractals , 2024 , 185 . |
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This paper proposes a decentralized adaptive event-triggered fault-tolerant cooperative control (ET-FTCC) scheme for multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) with actuator faults and external disturbances under denial-of-service (DoS) attacks. The multiple UAVs and UGVs have a larger search radius, which is important in both the civilian and military domains. The different dynamics between UAVs and UGVs result in unbalanced interactions in the communication topologies, which increases the complexity of cooperative control. DoS attacks are conducted in both sensor and control channels. The dynamic models of UAVs and UGVs are introduced firstly, and the unified heterogeneous multiagent system model with actuator faults is established. The composite observer is designed to obtain the information of state and lumped disturbance, which is used to design the controller. In order to save the limited communication network resources, the event-triggered mechanism is introduced. The transformed error is presented by using the prescribed performance function (PPF). Then, the sliding-mode manifold is presented by combining the event-triggered control scheme to achieve the tracking purpose with actuator faults, external disturbances, and DoS attacks. Based on the Lyapunov function approach, the tracking errors are bounded within the prescribed boundary. Finally, the effectiveness of the proposed method is verified by qualitative analysis and quantitative analysis of the simulation results. This study can enhance the security and reliability of heterogeneous multiagent systems, providing technical support for the safe operation of unmanned systems. This paper mainly solves the FTCC problem of second-order nonlinear heterogeneous multiagent systems, and further research is needed for the FTCC problem of higher-order nonlinear heterogeneous multi-agent systems. In addition, the system may encounter multiple cyber attacks. As one of the future research works, we can extend the results of this paper to high-order nonlinear systems under multiple cyber attacks, which contain DoS attacks and deception attacks, and achieve fault-tolerant cooperative control of heterogeneous multiagent systems. © 2024 by the authors.
Keyword ：
DoS attacks DoS attacks event-triggered mechanism event-triggered mechanism fault-tolerant cooperative control fault-tolerant cooperative control heterogeneous multiagent systems heterogeneous multiagent systems prescribed performance function prescribed performance function
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| GB/T 7714 | Liu, S. , Huang, J. . Decentralized Adaptive Event-Triggered Fault-Tolerant Cooperative Control of Multiple Unmanned Aerial Vehicles and Unmanned Ground Vehicles with Prescribed Performance under Denial-of-Service Attacks [J]. | Mathematics , 2024 , 12 (17) . |
| MLA | Liu, S. et al. "Decentralized Adaptive Event-Triggered Fault-Tolerant Cooperative Control of Multiple Unmanned Aerial Vehicles and Unmanned Ground Vehicles with Prescribed Performance under Denial-of-Service Attacks" . | Mathematics 12 . 17 (2024) . |
| APA | Liu, S. , Huang, J. . Decentralized Adaptive Event-Triggered Fault-Tolerant Cooperative Control of Multiple Unmanned Aerial Vehicles and Unmanned Ground Vehicles with Prescribed Performance under Denial-of-Service Attacks . | Mathematics , 2024 , 12 (17) . |
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A reputation management system with identity authentication and task supervisor (RMS-IATS) for swarm robotics via blockchain technology is proposed to identify Byzantine robots within the swarm robotics and avoid the security threat caused by Byzantine robots to swarm robotics. Firstly, a classical blockchain-based swarm robotics reputation management system (RMS) is improved by introducing penalty factors, and a severer reputation value penalty is imposed on the robotics with long-term Byzantine behavior. Secondly, to speed up the identification of Byzantine robots within swarm robotics, an identity authentication protocol is devised, and thus lower initial reputation scores are assigned to the robots with unauthorized identities. Next, a dual-layer communication network for communication between robots is designed to solve the communication latency issue caused by blockchain in the swarm robotics system. Finally, the feasibility of the proposed blockchain-based RMS-IATS and dual-layer communication network is proved through simulations. The identification time for different types of Byzantine robots is shortened by RMS-IATS compared with the classical RMS for swarm robotics, and the maximum communication latency of the system is reduced by the proposed dual-layer communication network compared with the blockchain. © 2024 Science Press. All rights reserved.
Keyword ：
Authentication Authentication Blockchain Blockchain Network layers Network layers Robots Robots Supervisory personnel Supervisory personnel Swarm intelligence Swarm intelligence
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| GB/T 7714 | Huang, Jie , Zeng, Jiazhou . Byzantine Robot Recognition Scheme via Blockchain-Based Reputation Management [J]. | Pattern Recognition and Artificial Intelligence , 2024 , 37 (3) : 267-281 . |
| MLA | Huang, Jie et al. "Byzantine Robot Recognition Scheme via Blockchain-Based Reputation Management" . | Pattern Recognition and Artificial Intelligence 37 . 3 (2024) : 267-281 . |
| APA | Huang, Jie , Zeng, Jiazhou . Byzantine Robot Recognition Scheme via Blockchain-Based Reputation Management . | Pattern Recognition and Artificial Intelligence , 2024 , 37 (3) , 267-281 . |
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To address the challenges of significant changes in the field of view and complex spatiotemporal information in unmanned aerial vehicle aerial image target detection, a model for small object detection in aerial photography based on low dimensional image feature fusion is presented grounded on the YOLOv5(you only look once version 5) architecture. Coordinate attention is introduced to improve the inverted residuals of MobileNetV3, thereby increasing the spatial dimension information of images while reducing parameters of the model. The YOLOv5 feature pyramid network structure is improved to incorporate feature images from shallow networks. The ability of the model to represent low-dimensional effective information of images is enhanced, and consequently the detection accuracy of the proposed model for small objects is improved. To reduce the impact of complex background in the image, the parameter-free average attention module is introduced to focus on both spatial attention and channel attention. VariFocal Loss is adopted to reduce the weight proportion of negative samples in the training process. Experiments on VisDrone dataset demonstrate the effectiveness of the proposed model. The detection accuracy is effectively improved while the model complexity is significantly reduced. © 2024 Science Press. All rights reserved.
Keyword ：
Aerial photography Aerial photography Antennas Antennas Complex networks Complex networks Image enhancement Image enhancement Object detection Object detection Object recognition Object recognition
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| GB/T 7714 | Cai, Fenghuang , Zhang, Jiaxiang , Huang, Jie . Model for Small Object Detection in Aerial Photography Based on Low Dimensional Image Feature Fusion [J]. | Pattern Recognition and Artificial Intelligence , 2024 , 37 (2) : 162-171 . |
| MLA | Cai, Fenghuang et al. "Model for Small Object Detection in Aerial Photography Based on Low Dimensional Image Feature Fusion" . | Pattern Recognition and Artificial Intelligence 37 . 2 (2024) : 162-171 . |
| APA | Cai, Fenghuang , Zhang, Jiaxiang , Huang, Jie . Model for Small Object Detection in Aerial Photography Based on Low Dimensional Image Feature Fusion . | Pattern Recognition and Artificial Intelligence , 2024 , 37 (2) , 162-171 . |
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The fixed/preassigned time (FT/PT) synchronization issue of multi -layer networks via a discontinuous control strategy is addressed in this paper. Firstly, the inventiveness FT theorem is established, and a precise estimation of setting time is given by employing mathematical induction, proof by contradiction, and maximum value theory. Subsequently, based on the FT stability results, several FT synchronization criteria for multilayer networks are proposed by designing a periodically switching protocol. Additionally, the topological connectivity constraints are eliminated through the implementation of synchronized states as virtual nodes. Correspondingly, the PT synchronization issue is investigated by developing several extraordinary control strategies in which the control gains are finite. Ultimately, the feasibility of the developed control design and the established criteria is illustrated by two numerical examples.
Keyword ：
Fixed-time synchronization Fixed-time synchronization Multi-layer networks Multi-layer networks Periodically switching control Periodically switching control Preassigned-time synchronization Preassigned-time synchronization
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| GB/T 7714 | Zhao, Tingting , Hu, Cheng , Huang, Jie et al. Fixed/Prescribed-time synchronization of multi-layer complex networks under switching control [J]. | CHAOS SOLITONS & FRACTALS , 2024 , 185 . |
| MLA | Zhao, Tingting et al. "Fixed/Prescribed-time synchronization of multi-layer complex networks under switching control" . | CHAOS SOLITONS & FRACTALS 185 (2024) . |
| APA | Zhao, Tingting , Hu, Cheng , Huang, Jie , Yu, Juan . Fixed/Prescribed-time synchronization of multi-layer complex networks under switching control . | CHAOS SOLITONS & FRACTALS , 2024 , 185 . |
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在电气工程专业实践教学过程中凝练出由Turn up、Turn away、Turn back等环节组成的3-Turns教学法。经过多轮的实践应用，3-Turns教学法在实践共同体中提供了一个兼具解释性与可操作性的教学样例。研究发现，3-Turns教学法对实践共同体促进工科生深度学习起到了提质增效的作用；3-Turns教学法为工程实践学习情境的强化设计提供了理论依据与经验支持。该研究验证了基于3-Turns教学法的实践共同体促进工科生深度学习的有效性，为助力工科人才培养质量的持续提升做出了积极的探索与实践。
Keyword ：
3-Turns教学法 3-Turns教学法 实践共同体 实践共同体 实践教学 实践教学 深度学习 深度学习
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| GB/T 7714 | 陈东毅 , 王武 , 林建新 et al. 3-Turns教学法在实践共同体促进深度学习中的应用 [J]. | 实验室研究与探索 , 2024 , 43 (04) : 151-154 . |
| MLA | 陈东毅 et al. "3-Turns教学法在实践共同体促进深度学习中的应用" . | 实验室研究与探索 43 . 04 (2024) : 151-154 . |
| APA | 陈东毅 , 王武 , 林建新 , 黄捷 , 陈建国 . 3-Turns教学法在实践共同体促进深度学习中的应用 . | 实验室研究与探索 , 2024 , 43 (04) , 151-154 . |
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针对仅在获取多智能体局部距离及相对角度信息条件下如何保持多智能体系统刚性编任务规划队问题,本文提出了两种多智能体刚性编队任务规划方案.首先提出一种基于距离和相对角度的刚性编队规划方案,规划在未知相对位置情况下确保智能体刚性编队.其次利用零空间投影的任务规划方法解决编队任务与避障任务的冲突,确保编队移动过程中编队队形的稳定.再次结合距离和相对角度提出一种整体刚性编队规划方案,并在避障过程中将多智能体系统视为整体进行避障,确保稳定的刚性编队和避障任务的完成.经过仿真验证本文提出的两种方法在弱化相对位置信息的条件下能够较好的保持刚性编队并完成避障任务,对比于依赖相对位置的零空间行为控制方法弱化了对于相对位置信息的依赖.
Keyword ：
任务规划 任务规划 刚性编队 刚性编队 多智能体系统 多智能体系统 相对角度信息 相对角度信息 距离信息 距离信息
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| GB/T 7714 | 黄捷 , 李俊杰 . 基于距离及相对角度信息的多智能体系统刚性编队任务规划 [J]. | 航空兵器 , 2024 , 31 (2) : 79-90 . |
| MLA | 黄捷 et al. "基于距离及相对角度信息的多智能体系统刚性编队任务规划" . | 航空兵器 31 . 2 (2024) : 79-90 . |
| APA | 黄捷 , 李俊杰 . 基于距离及相对角度信息的多智能体系统刚性编队任务规划 . | 航空兵器 , 2024 , 31 (2) , 79-90 . |
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This paper proposes two rigid formation task planning schemes for multi-agent systems to address the problem of maintaining rigid formation task planning under the condition of only obtaining local distance and relative angle information of multi-agent systems. Firstly, a rigid formation planning scheme based on distance and relative angle is proposed to ensure the rigid formation of intelligent agents in unknown relative positions. Secondly, the task planning method of null space projection is used to solve the conflict between formation tasks and obstacle avoidance tasks, ensuring the stability of formation during the movement process. An overall rigid formation planning scheme is proposed that combines distance and relative angle again, and the multi-agent system is considered as a whole for obstacle avoidance during the obstacle avoidance process, ensuring stable rigid formation and the completion of obstacle avoidance tasks. After simulation verification, the two methods proposed in this paper can maintain a rigid formation and complete obstacle avoidance tasks well under the condition of weakening relative position information. Compared with the null space behavior control method that relies on relative position, it weakens the dependence on relative position information. © 2024 Editorial Office of Aero Weaponry. All rights reserved.
Keyword ：
distance information distance information multi agent systems multi agent systems relative angle information relative angle information rigid formation rigid formation task planning task planning
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| GB/T 7714 | Jie, H. , Junjie, L. . Rigid Formation Task Planning for Multi-Agent Systems Based on Distance and Relative Angle Information; [基于距离及相对角度信息的多智能体系统刚性编队任务规划] [J]. | Aero Weaponry , 2024 , 31 (2) : 79-90 . |
| MLA | Jie, H. et al. "Rigid Formation Task Planning for Multi-Agent Systems Based on Distance and Relative Angle Information; [基于距离及相对角度信息的多智能体系统刚性编队任务规划]" . | Aero Weaponry 31 . 2 (2024) : 79-90 . |
| APA | Jie, H. , Junjie, L. . Rigid Formation Task Planning for Multi-Agent Systems Based on Distance and Relative Angle Information; [基于距离及相对角度信息的多智能体系统刚性编队任务规划] . | Aero Weaponry , 2024 , 31 (2) , 79-90 . |
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