Article
Automation & Control Systems
Likui Wang, Hak-Keung Lam
Summary: This technical paper introduces a generalized Lyapunov function called HPMFD and proposes a corresponding switching method to deal with the time derivative of membership function. By constructing a generalized outer variable, the results are further improved. The effectiveness of the proposed method is demonstrated in a final example.
Article
Automation & Control Systems
Xin Xin, Yannian Liu, Shinsaku Izumi, Taiga Yamasaki, Jinhua She
Summary: This paper addresses the swing-down control of the Acrobot by proposing a sinusoidal-derivative (SD) controller. Under the conditions of no friction and measurability of only the angle and angular velocity of the actuated joint, the control objective of rapidly stabilizing the Acrobot around the downward equilibrium point is achieved through optimized control gains.
Article
Computer Science, Artificial Intelligence
Yanxian Chen, Zhi Liu, C. L. Philip Chen, Yun Zhang
Summary: This article addresses the problem of fuzzy tracking control in the presence of unknown input backlash, nonconstant control gain, and asymmetric full-state constraints in switched systems. A novel mode-dependent integral barrier Lyapunov function (MIBLF) is proposed to handle the conservative feasibility conditions and ensure all subsystems share a common controller. With the utilization of fuzzy logic systems and a parameterized smooth backlash inverse (PSBI), a novel MIBLF-based adaptive fuzzy controller is presented to overcome the challenges caused by unknown input backlash nonlinearities.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2022)
Article
Mathematics
Zhiguo Yan, Zhiwei Zhang, Guolin Hu, Baolong Zhu
Summary: This paper investigates the problem of finite-time H-infinity control in blood gases system during extracorporeal circulation, using a T-S fuzzy model and considering bounded disturbance. By designing an observer-based fuzzy controller, the closed-loop system is ensured to be finite-time bounded with H-infinity performance. The proposed methodology has practical significance in blood gas system control.
Article
Computer Science, Artificial Intelligence
Souhail Tiko, Fouad Mesquine
Summary: This article investigates the handling of control constraints in the controller design phase for a certain type of Takagi-Sugeno fuzzy systems. The use of a Line integral Lyapunov function (LILF) reduces conservatism in comparison to other types of Lyapunov functions. Two cases, unsaturating and saturating control, are studied. Inclusion conditions are set to guarantee desired behavior in the absence of control constraint violations. The proposed approach is shown to be effective through comparisons with other methods.
IEEE TRANSACTIONS ON FUZZY SYSTEMS
(2023)
Article
Automation & Control Systems
Jairo Moreno Saenz, Motoyasu Tanaka, Kazuo Tanaka
Summary: This article presents synthesis conditions for both stabilization and disturbance attenuation control for a class of polynomial fuzzy systems. It relaxes the sum of squares conditions by restricting the domain of the polynomial variables representing the membership functions and using a line integral polynomial fuzzy Lyapunov function. Additionally, it addresses the disturbance attenuation problem by transforming the Hamilton-Jacobi-Isaacs equation into a set of inequalities and using a policy iteration algorithm to approximate its value function. Furthermore, an alternative path following method is proposed to find the initial L-2 gain stabilizing control policy.
IEEE TRANSACTIONS ON CYBERNETICS
(2021)
Article
Automation & Control Systems
Shuo Xu, Xi-Qin He, Li-Bing Wu, Qing-Kun Yu
Summary: This paper addresses the problem of event-triggered control for a class of nonlinear systems with unknown control coefficients, time-varying delays, full state constraints and external disturbances simultaneously. An adaptive event-triggered controller is designed based on integral Barrier-Lyapunov Functionals to account for the impacts of complete state constraints, unknown time-varying delays and external disturbances. Fuzzy logic systems are used to roughly estimate the unknown functions of systems, and the event-triggered control technique is implemented to significantly reduce system redundancy. The proposed design scheme is less conservative and has a wider application range, demonstrating its effectiveness through simulation results.
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2023)
Article
Mathematics, Interdisciplinary Applications
Parvin Mahmoudabadi, Mahsan Tavakoli-Kakhki
Summary: This paper presents a method to address the tracking control and disturbance rejection for nonlinear fractional order systems, utilizing T-S fuzzy modeling and a fractional order modified repetitive controller to construct an output feedback strategy. The stability of the closed-loop system is ensured by establishing sufficient conditions in the framework of LMIs with the introduction of FLF. The efficiency of the proposed method is demonstrated through three examples.
CHAOS SOLITONS & FRACTALS
(2021)
Article
Automation & Control Systems
Fan-Nong Yu, Ying-Jen Chen, Motoyasu Tanaka, Kazuo Tanaka, Shun-Hung Tsai
Summary: This paper presents a descriptor form design methodology for polynomial fuzzy-model-based control systems. The first sum-of-squares (SOS) based stabilization control design approach is proposed by applying commonly used Lyapunov function of the polynomial fuzzy model. The copositivity relaxation is applied in the stabilization control design for the redundancy of descriptor form representation.
INTERNATIONAL JOURNAL OF FUZZY SYSTEMS
(2022)
Article
Computer Science, Information Systems
Xin Jin, Yuan-Xin Li
Summary: This article investigates the fuzzy adaptive control design for a class of stochastic nonstrict feedback nonlinear systems, introducing a bounded estimation method, smooth functions, and barrier Lyapunov functions to ensure the controlled system's performance and stability. The proposed asymptotic tracking control scheme shows superior performance in an illustrative simulation instance.
INFORMATION SCIENCES
(2021)
Article
Automation & Control Systems
Weiwei Sun, Liping Wang, You Wu
Summary: This article proposes an adaptive dynamic surface fuzzy control method for a class of nonstrict feedback systems subject to state constraints with unknown control directions, time-delay, and external disturbances. It solves the problem of unknown control direction using the Nussbaum gain technique and eliminates the effect of unknown time-varying delay by introducing a compounding type Lyapunov function. Additionally, an adaptive tracking controller is constructed based on the fuzzy backstepping method to ensure that constrained states are not violated and all closed-loop trajectory signals remain bounded. The effectiveness of the results is illustrated through simulations.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Automation & Control Systems
Miao Tong, Huanqing Wang
Summary: In this article, the finite-time output feedback control issue for switched nonlinear systems is investigated. Fuzzy logic systems are used for identifying unknown functions and a common state observer is constructed in order to measure unmeasured states. An observer-based finite-time adaptive tracking control strategy is proposed based on the backstepping algorithm and the common Lyapunov function approach. The stability analysis confirms that the closed-loop signals are bounded and the tracking error can converge to the origin after a finite period of time.
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2022)
Article
Automation & Control Systems
Yong-Hua Liu, Yang Liu, Yu-Fa Liu, Chun-Yi Su
Summary: This article investigates adaptive fuzzy tracking control for uncertain strict-feedback systems with unknown nonlinearities, emphasizing global stability. The proposed control scheme integrates barrier Lyapunov functions with fuzzy approximation and backstepping techniques, introducing novel integral BLFs to overcome design difficulties and guarantee fuzzy approximation validity. The developed controller ensures global stability without prior information of system nonlinearities and prevents the "explosion of complexity" issue.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2022)
Article
Computer Science, Information Systems
Xiaohang Su, C. L. Philip Chen, Zhi Liu
Summary: This paper investigates how to handle a class of uncertain nonlinear systems with full state constraints and actuator failures. By fusing fuzzy logic systems, barrier Lyapunov functions, and backstepping technique, a novel control scheme is proposed to ensure state constraints are not violated and compensate possible actuator failures. The established theoretical conclusion is verified through simulation results, demonstrating the effectiveness of the proposed scheme.
INFORMATION SCIENCES
(2021)
Article
Automation & Control Systems
Zehong Dong, Yinghui Li, Maolong Lv
Summary: This article proposes a fixed-time singularity-free neural control scheme for hypersonic flight vehicle (HFV) considering asymmetric time-varying angle of attack (AOA) constraint based on integral barrier Lyapunov function (IBLF). The most distinguishing feature of our control design lies in designing a direct AOA-constrained control scheme without needing error transformation and avoiding the singularity issue. The IBLF is adopted to confine the AOA within a predefined asymmetric time-varying compact set all the time. Comparative simulations verify the superiority of the developed methodology.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Yinzhi Lu, Liu Yang, Simon X. Yang, Qiaozhi Hua, Arun Kumar Sangaiah, Tan Guo, Keping Yu
Summary: The edge-enabled Industrial Internet of Things (IIoT) platform is crucial in the acceleration of smart industry development. However, as real-time IIoT applications increase, it becomes challenging to achieve fast response time, low latency, and efficient bandwidth utilization. To address this issue, researchers have recently studied time-sensitive network (TSN) to enable low latency communication through deterministic scheduling. This article analyzes the combinability problem and proposes the noncollision theory-based deterministic scheduling (NDS) method for achieving ultralow latency communication for time-sensitive flows. Additionally, a dynamic queue scheduling (DQS) method is presented to improve bandwidth utilization for best-effort flows. Experimental results demonstrate the effectiveness of NDS/DQS in supporting deterministic ultralow latency services and efficient bandwidth utilization.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2023)
Review
Chemistry, Analytical
Weihong Ma, Kun Wang, Jiawei Li, Simon X. Yang, Junfei Li, Lepeng Song, Qifeng Li
Summary: The fusion of visible and infrared light can significantly improve the quality of images by avoiding the disadvantages of single sensors. It is widely used in agriculture, industry, medicine, and other fields. This study reviews the mainstream technology and application of infrared and visible image fusion, discusses its application in various fields, evaluates different fusion methods, and provides an outlook for future development.
Article
Automation & Control Systems
Bo Qin, Huaicheng Yan, Hao Zhang, Yueying Wang, Simon X. Yang
Summary: This paper proposes a control method based on an enhanced reduced-order extended state observer for precise motion control in mobile robot systems. The method reduces energy consumption by estimating unknown state error and negative disturbance and uses a simple state-feedback-feedforward controller to track the reference signal and compensate for negative disturbance.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Automation & Control Systems
Xiang Yin, Jinhua She, Zhen-Tao Liu, Yonghua Xiong
Summary: This article aims to suppress the effects of estimation errors and improve disturbance-suppression performance by connecting multiple artificial disturbances. A parameter p is designed to simplify the conventional EID estimator, and a parallel-EID (PEID) approach is proposed, which has many advantages. The PEID approach outperforms previous studies in disturbance-suppression performance, with a simple and universal configuration. Additionally, a novel virtual filter is designed to transform the PEID-based control system into an equivalent configuration for deriving stability conditions easily. The PEID approach is applied to control the speed of a permanent magnet synchronous motor, and comparisons with other approaches confirm its validity and superiority.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2023)
Article
Computer Science, Artificial Intelligence
Zhen-Tao Liu, Si-Jun Hu, Jinhua She, Zhaohui Yang, Xin Xu
Summary: Using electroencephalogram (EEG) to recognize human emotion has attracted increasing attention. This study proposes a combined feature extraction method in the variational mode decomposition (VMD) domain to extract local features of EEG signals and overcome the effects caused by nonstationarity. Experimental results demonstrate the effectiveness of this method.
IEEE TRANSACTIONS ON COGNITIVE AND DEVELOPMENTAL SYSTEMS
(2023)
Article
Automation & Control Systems
Qicheng Mei, Jinhua She, Feng Wang, Yosuke Nakanishi
Summary: This article presents an improved equivalent-input-disturbance (EID) approach that actively rejects exogenous disturbances for a plant. The control system based on this approach includes a new EID estimator constructed by embedding integrals to the conventional EID estimator, which enhances disturbance estimation precision without amplifying measurement noise. Stability conditions of the control system are obtained using the separation theorem, and the system design ensures these conditions are satisfied. Experimental results from a rotational control system validate the effectiveness of the approach.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Automation & Control Systems
Qicheng Mei, Jinhua She, Feng Wang, Min Wu, Qing-Guo Wang, Yosuke Nakanishi
Summary: This article presents a sliding-mode-control-based-equivalent-input-disturbance (SMCEID) approach that enhances the disturbance-rejection performance of a plant. The control scheme includes a conventional equivalent-input-disturbance (EID) estimator and a newly added sliding-mode controller (SMC). The SMC sets the state-observation error as a sliding-mode surface and employs a binary-search algorithm to select the gain, ensuring the sliding-mode surface converges to the origin and enhancing disturbance-rejection performance. The validity of the SMCEID approach is demonstrated through its application in a Stewart-platform control system.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Environmental Sciences
Yuhao Zhou, Man Wei, Yanpeng Li, Ming Tang, Haoqiang Zhang
Summary: Arbuscular mycorrhizal fungi (AMF) can decrease the toxicity of lead to Platycladus orientalis under lead stress, while also improving its growth and antioxidant system activity. However, lead inhibits the symbiosis between AMF and P. orientalis.
INTERNATIONAL JOURNAL OF PHYTOREMEDIATION
(2023)
Article
Automation & Control Systems
Yibing Wang, Manli Zhang, Chengda Lu, Shengnan Tian, Jinhua She, Min Wu
Summary: This paper presents an optimization design method for a two-dimensional modified repetitive control system with an anti-windup compensator. It establishes a 2D hybrid model considering actuator saturation to describe the control and learning of the system. The stability of the system is ensured through a linear-matrix-inequality (LMI)-based sufficient condition. Two tuning parameters are used to adjust the control and learning, and a new cost function is developed to evaluate the control performance efficiently. The proposed adaptive multi-population particle swarm optimization algorithm selects optimal tuning parameters, and an anti-windup term is added to mitigate the effect of actuator saturation. Simulations and experiments validate the effectiveness of the approach.
Article
Automation & Control Systems
Zhichen Li, Huaicheng Yan, Hao Zhang, Simon X. Yang, Mengshen Chen
Summary: This article investigates the design problem of an extended state observer (ESO) for uncertain nonlinear systems subject to limited network bandwidth. A dynamic event-triggered communication protocol is proposed for rational information exchange scheduling, achieving a desirable tradeoff between observation performance and communication resource efficiency. A novel paradigm of event-triggered Takagi-Sugeno fuzzy ESO is introduced, and the TSFESO design approach is derived to carry out exponential convergence for estimation error dynamics under the dynamic event-triggered mechanism. The effectiveness of the proposed method is verified through numerical examples, expanding the application scope of ESO with improved event-triggered strategies.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Computer Science, Information Systems
Fanrong Shi, Simon X. Yang, Mithun Mukherjee, Hong Jiang, Daniel Benevides da Costa, Wing-Kwong Wong
Summary: This article proposes a parameter-sharing-based average-consensus time-synchronization (PACTS) algorithm to address the time synchronization issue in IoT networks. By utilizing multihop average-consensus and forwarding time information quickly, the algorithm achieves reduced iteration number and convergence time.
IEEE INTERNET OF THINGS JOURNAL
(2023)
Correction
Education & Educational Research
Xiaolan Zhou, Shumei Chen, Sumio Ohno, Jinhua She, Hiroyuki Kameda
ASIA PACIFIC EDUCATION REVIEW
(2023)
Article
Computer Science, Information Systems
Jing Li, Yonghua Xiong, Jinhua She
Summary: This article presents a solution to the UAV path planning problem in a dynamic environment, which uses a greedy allocation strategy for task assignment and an improved ant colony optimization algorithm for path planning. Through simulations, it is shown that the ACO-VP algorithm is more efficient and effective compared to other algorithms.
IEEE INTERNET OF THINGS JOURNAL
(2023)
Article
Automation & Control Systems
Xiang Yin, Yuntao Shi, Jinhua She, Hanping Wang
Summary: This article reviews the concept, analysis, development, and applications of the equivalent-input-disturbance (EID) approach. It discusses the definition and existence of EID, the configuration of the EID estimator, estimation errors, and error-suppression methods. The article also explores the challenges of applying the EID approach to handle nonlinearities, time delays, uncertainties, and highlights future directions for the theory and applications of EID.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Automation & Control Systems
Zewen Wang, Jinhua She, Feng Wang, Juan Zhao, Daiki Sato
Summary: This article presents an inside observation of a disturbance-compensation error in the equivalent-input-disturbance (EID) approach and identifies two types of causes: disturbance- and state-estimation errors. A modified EID (MEID) approach is introduced to address each type separately. High-gain observer is utilized to ensure rapid convergence of the disturbance-estimation error, considering its unmeasurable nature. The MEID approach incorporates a weighted output-estimation error, generated by a state observer, to compensate for the state-estimation error within a specified frequency range. A stability condition is established for an MEID-based control system. Parameters of a filter and an observer are jointly optimized based on a time-domain performance index with a frequency domain constraint. Experimental comparison with alternative EID approaches highlights the superiority of the MEID approach.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Runwei Guan, Shanliang Yao, Lulu Liu, Xiaohui Zhu, Ka Lok Man, Yong Yue, Jeremy Smith, Eng Gee, Yutao Yue
Summary: With the development of Unmanned Surface Vehicles (USVs), the perception of inland waterways has become significant. Traditional RGB cameras cannot work effectively in adverse weather and at night, which has led to the emergence of 4D millimeter-wave radar as a new perception sensor. However, the radar suffers from water-surface clutter and irregular shape of point cloud. To address these issues, this paper proposes a high-performance panoptic perception model called Mask-VRDet, which fuses features of vision and radar using graph neural network.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Adrien Le Reun, Kevin Subrin, Anthony Dubois, Sebastien Garnier
Summary: This study aims to evaluate the quality and health of aerospace parts using a high-dimensional robotic cell. By utilizing X-ray Computed Tomography devices, the interior of the parts can be reconstructed and anomalies can be detected. A methodology is proposed to assess both the raw process capability and the improved process capability, with three strategies developed to improve the robot behavior model and calibration.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Weiming Ba, Jung-Che Chang, Jing Liu, Xi Wang, Xin Dong, Dragos Axinte
Summary: This paper proposes a hybrid scheme for kinematic control of continuum robots, which avoids errors through tension supervision and accurate piecewise linear approximation. The effectiveness of the controller is verified on different continuum robotic systems.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Gabriele Abbate, Alessandro Giusti, Viktor Schmuck, Oya Celiktutan, Antonio Paolillo
Summary: In this study, a learning-based approach is proposed to predict the probability of human users interacting with a robot before the interaction begins. By considering the pose and motion of the user, the approach labels the robot's encounters with humans in a self-supervised manner. The method is validated and deployed in various scenarios, achieving high accuracy in predicting user intentions to interact with the robot.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Tiago Cortinhal, Eren Erdal Aksoy
Summary: This work presents a new depth-and semantics-aware conditional generative model, named TITAN-Next, for cross-domain image-to-image translation between LiDAR and camera sensors. The model is able to translate raw LiDAR point clouds to RGB-D camera images by solely relying on semantic scene segments, and it has practical applications in fields like autonomous vehicles.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Marios Krestenitis, Emmanuel K. Raptis, Athanasios Ch. Kapoutsis, Konstantinos Ioannidis, Elias B. Kosmatopoulos, Stefanos Vrochidis
Summary: This paper addresses the issue of informative path planning for a UAV used in precision agriculture. By using a non-uniform scanning approach, the time spent in areas with minimal value is reduced, while maintaining high precision in information-dense regions. A novel active sensing and deep learning-based coverage path planning approach is proposed, which adjusts the UAV's speed based on the quantity and confidence level of identified plant classes.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shota Kokubu, Pablo E. Tortos Vinocour, Wenwei Yu
Summary: In this study, a new modular soft actuator was proposed to improve the support performance of soft rehabilitation gloves (SRGs). Objective evaluations and clinical tests were conducted to demonstrate the effectiveness and functionality of the proposed actuator and SRG.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Jinliang Zhu, Yuanxi Sun, Jie Xiong, Yiyang Liu, Jia Zheng, Long Bai
Summary: This paper proposes an active prosthetic knee joint with a variable stiffness parallel elastic actuation mechanism. Numerical verifications and practical experiments demonstrate that the mechanism can reduce torque and power, thus reducing energy consumption and improving the endurance of the prosthetic knee joint.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Yong You, Jingtao Wu, Yunlong Meng, Dongye Sun, Datong Qin
Summary: A new power-cycling variable transmission (PCVT) is proposed and applied to construction vehicles to improve transmission efficiency. A shift correction strategy is developed based on identifying the changes in construction vehicles' mass and gradient. Simulation results show that the proposed method can correct shift points, improve operation efficiency, and ensure a safer operation process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Shaorui Liu, Wei Tian, Jianxin Shen, Bo Li, Pengcheng Li
Summary: This paper proposes a two-objective optimization technique for multi-robot systems, addressing the issue of balancing productivity and machining performance in high-quality machining tasks.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pengchao Ding, Faben Zhu, Hongbiao Zhu, Gongcheng Wang, Hua Bai, Han Wang, Dongmei Wu, Zhijiang Du, Weidong Wang
Summary: We propose an autonomous approaching scheme for mobile robot traversing obstacle stairwells, which overcomes the restricted field of vision caused by obstacles. The scheme includes stair localization, structural parameter estimation, and optimization of the approaching process.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Pedro Azevedo, Vitor Santos
Summary: Accurate detection and tracking of vulnerable road users and traffic objects are vital tasks for autonomous driving and driving assistance systems. This paper proposes a solution for object detection and tracking in an autonomous driving scenario, comparing different object detectors and exploring the deployment on edge devices. The effectiveness of DeepStream technology and different object trackers is assessed using the KITTI tracking dataset.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
Article
Automation & Control Systems
Benjamin Beiter, Divya Srinivasan, Alexander Leonessa
Summary: Powered exoskeletons can significantly reduce physical workload and have great potential impact on future labor practices. To truly assist users in achieving task goals, a shared autonomy control framework is proposed to separate the control objectives of the human and exoskeleton. Positive Power control is introduced for the human-based controller, while 'acceptance' is used as a measure of matching the exoskeleton's control objective to the human's. Both control objectives are implemented in an optimization-based Whole-Body-Control structure. The results verify the effectiveness of the control framework and its potential for improving cooperative control for powered exoskeletons.
ROBOTICS AND AUTONOMOUS SYSTEMS
(2024)
