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Adaptive torque estimation-based nonlinear H∞ control of modular robot manipulators with uncertain environments

Neural Computing and Applications 2025年第3期37卷 1617-1631页

作者： Dong, Bo Wang, Yuge An, Tianjiao Cui, Yiming Zhu, Xinye Department of Control Science and Engineering Changchun University of Technology Changchun130012 China

Modular robot manipulators (MRMs) based on harmonic drive (HD) transmissions perform various target tasks in unknown environments, and the main challenge is to overcome the uncertain noise and controller errors of systems generated by device vibrations while facing with unknown external disturbance. To address these challenges, a variational Bayesian (VB)-based extended Kalman filter (VBEKF) is developed as part of the MRM dynamic model to mitigate bias in torque estimation resulting from external interference within HD model joints. Furthermore, leveraging a two-player zero-sum game strategy, a robust adaptive dynamic programming (ADP) method based on single critic neural network (NN) is formulated to solve the Hamilton–Jacobi–Isaacs (HJI) equation in H∞ control problem, ultimately yielding an approximate optimal solution for H∞ control. The Lyapunov theory guarantees that the trajectory tracking error of a closed-loop MRM system remains ultimately uniformly bounded (UUB), even in the presence of unknown environmental disturbances. Ultimately, the experiment results are given to illustrate the advantages and effectiveness of the proposed method. The experimental results show that the proposed method reduces the control torque error by ∼20% compared with the existing control methods. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Extended Kalman filters

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Neural Network for Distributed Collaboration of Multiple Manipulators With Switching Topologies: A Game-Theoretic Perspective

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IEEE Transactions on Systems, Man, and Cybernetics: Systems 2025年第5期55卷 3213-3221页

作者： Liu, Mei Mu, Wenxin Lv, Xin Sun, Zhongbo Jin, Long Lanzhou University School of Information Science and Engineering Lanzhou730000 China Changchun University of Technology Department of Control Engineering Changchun130000 China

Since distributed control strategies can effectively reduce the operating load of the central processor, they have become a prominent research direction in the field of controlling multiple manipulators. However, existing distributed approaches predominantly rely on fixed topologies, overlooking the dynamic nature of task requirements. To address this limitation, this article proposes a distributed collaboration scheme that incorporates switching topologies. The distributed control problem is further formulated as a game-theoretic framework involving multiple manipulators. A dynamic neural network solver is then developed to approximate the optimal Nash equilibrium strategy, with its convergence and stability proven through theoretical analysis. The effectiveness of the proposed scheme and solver is validated through a series of physical experiments. © 2013 IEEE.

关键词： Redundant manipulators

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Privacy-preserving filtering, control and optimization for industrial cyber-physical systems

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science China(Information sciences) 2025年第4期68卷 267-283页

作者： Derui DING Qing-Long HAN Xiaohua GE Xian-Ming ZHANG Jun WANG Department of Control Science and Engineering University of Shanghai for Science and Technology School of Engineering Swinburne University of Technology Department of Computer Science City University of Hong Kong

Industrial cyber-physical systems closely integrate physical processes with cyberspace, enabling real-time exchange of various information about system dynamics, sensor outputs, and control decisions. The connection between cyberspace and physical processes results in the exposure of industrial production information to unprecedented security risks. It is imperative to develop suitable strategies to ensure cyber security while meeting basic performance *** the perspective of control engineering, this review presents the most up-to-date results for privacy-preserving filtering,control, and optimization in industrial cyber-physical systems. Fashionable privacy-preserving strategies and mainstream evaluation metrics are first presented in a systematic manner for performance evaluation and engineering *** discussion discloses the impact of typical filtering algorithms on filtering performance, specifically for privacy-preserving Kalman filtering. Then, the latest development of industrial control is systematically investigated from consensus control of multi-agent systems, platoon control of autonomous vehicles as well as hierarchical control of power systems. The focus thereafter is on the latest privacy-preserving optimization algorithms in the framework of consensus and their applications in distributed economic dispatch issues and energy management of networked power systems. In the end, several topics for potential future research are highlighted.

关键词： industrial cyber-physical systems privacy preservation distributed control distributed optimization power systems

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Design of a uniform illumination lens based on the hypothetical point source ensemble method

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Applied Optics 2025年第12期64卷 3220-3228页

作者： Li, Ziheng Huo, Furong Yang, Chao Dong, Bo Xue, Changxi Department of Optical Engineering Changchun University of Science and Technology Changchun130022 China

Uniform distribution plays an important role in illumination design, and the design of uniform lenses for Lambertian light sources remains a challenging problem. An HPE method for designing a compact uniform illumination lens is proposed, where a uniform secondary light source is designed as the inner surface, and the outer surface is designed based on the energy-mapping method. After numerical calculation and fitting, a hyperbolic surface uniform illumination lens is obtained. The results show that the initial lens can achieve 85% illumination uniformity, energy utilization is improved by 36%, and the optimized extended LED source lens can achieve 98.32% uniformity and 91.17% energy utilization under compact size. The optimized point source lens can achieve 96.7% uniformity and 99.55% energy efficiency. The lenses are applied for near and far illumination applications and are suitable for rectangular light sources. © 2025 Optica Publishing Group.

关键词： Illumination meters

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Cooperative Game-Based Decentralized Approximate Optimal control for Reconfigurable Robot Manipulators with Physical Human-Robot Interaction 3rd

Cooperative Game-Based Decentralized Approximate Optimal Con...

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3rd International Conference on Machine Learning, Cloud Computing and Intelligent Mining, MLCCIM 2024

作者： An, Tianjiao Yan, Haoyu Ma, Bing Jiang, Hucheng Dong, Bo Department of Control Science and Engineering Changchun University of Technology Changchun China

ISBN: (纸本)9789819616930

A decentralized optimal control strategy that incorporates cooperative game theory is devised for robotic in the context of physical human-robot interaction (pHRI). The primary aim of achieving optimal control in the context of pHRI shifts toward the approximation of Pareto equilibrium by employing a cooperative game framework in which both the human and the reconfigurable robot manipulator (RRM) serve as participants with distinct roles and optimization goals during their interactions. Utilizing the ADP algorithm, a decentralized strategy for approximate optimal control incorporating pHRI has been established. The position error has been confirmed to exhibit UUB. Results from the experiment have been showcased, demonstrating clear advantages. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Microrobots

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Distributed coordination control of multi-agent systems under intermittent sampling and communication: a comprehensive survey

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science China(Information sciences) 2025年第5期68卷 289-331页

作者： Xiaohua GE Qing-Long HAN Xian-Ming ZHANG Derui DING Boda NING School of Engineering Swinburne University of Technology Department of Control Science and Engineering University of Shanghai for Science and Technology Department of Electrical and Electronic Engineering Auckland University of Technology

Sampling and communication are both crucial for coordination in multi-agent systems(MASs), with sampling capturing raw data from the environment for control decision making, and communication ensuring the data is shared effectively for synchronized and informed control decisions across agents. However, practical MASs often operate in environments where continuous and synchronous data samplings and exchanges are impractical, necessitating strategies that can handle intermittent sampling and communication constraints. This paper provides a comprehensive survey of recent advances in distributed coordination control of MASs under intermittent sampling and communication, focusing on both foundational principles and state-of-the-art techniques. After introducing fundamentals, such as communication topologies,agent dynamics, control laws, and typical coordination objectives, the distinctions between sampling and communication are elaborated, exploring deterministic versus random, synchronous versus asynchronous, and instantaneous versus sequential scenarios. A detailed review of emerging trends and techniques is then presented, covering time-triggered, event-triggered,communication-protocol-based, and denial-of-service-resilient coordination control. These techniques are analyzed across various attack models, including those based on data loss, sampled data, time constraints, and topology switching. By synthesizing these developments, this survey aims to equip researchers and practitioners with a clearer understanding of current challenges and methodologies, concluding with insights into promising future directions.

关键词： multi-agent systems distributed coordination control sampled-data control event-triggered control resilient control denial-of-service attacks communication protocols event-triggered mechanisms

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Application of feedforward and recurrent neural networks for model-based control systems

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control Theory and technology 2025年第1期23卷 91-104页

作者： Marek Krok Wojciech P.Hunek Szymon Mielczarek Filip Buchwald Adam Kolender Department of Control Science and Engineering Opole University of TechnologyOpolePoland

In this paper,a new study concerning the usage of artificial neural networks in the control application is *** is shown,that the data gathered during proper operation of a given control plant can be used in the learning process to fully embrace the control ***,the instances driven by neural networks have the ability to outperform the original analytically driven *** different control schemes,namely perfect,linear-quadratic,and generalized predictive controllers were used in the theoretical *** addition,the nonlinear recurrent neural network-based generalized predictive controller with the radial basis function-originated predictor was obtained to exemplify the main results of the paper regarding the real-world application.

关键词： Predictive control Linear-quadratic control Inverse problems Feedforward network Recurrent neural network Optimization

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Design of energy-saving driving strategy based on proximal policy optimization considering urban transport information

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control Theory and technology 2025年第1期23卷 74-90页

作者： Qifang Liu Dazhen Sun Haowen Chen Dongzi Li Ping Wang Department of Control Science and Engineering Jilin UniversityChangchun130022JilinChina State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun130022JilinChina

Eco-driving has always been an ongoing *** urban driving conditions,traffic regulations,other vehicle behaviors,and special driving scenarios will have a major impact on the energy consumption of autonomous *** a representative algorithm of artificial intelligence,reinforcement learning has the ability to perform well under complex *** paper uses deep reinforcement learning algorithms to design the economical driving strategies of autonomous vehicles in three driving scenarios:driving at signalized intersection under free traffic flow,car-following on ramps,and driving at signalized intersection considering queue *** the above three driving scenarios,the driving strategy proposed in this paper achieves economical driving performance while satisfying the driving scenario requirements.

关键词： Eco-driving strategy Reinforcement learning Signalized intersection Car-following

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Research on the cascade modulation method for star position simulation in a weak starlight simulator

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Optics Express 2025年第3期33卷 5627-5639页

作者： Wu, Linghao Zhang, Yu Li, Yihuan Sheng, Lan Xia, Yuxin Zhang, Siqi Gu, Siwen Department of Measurement and Control Technology and Instrumentation Changzhou Institute of Technology Changzhou213032 China Changchun University of Science and Technology Changchun130022 China

In order to surmount the challenge wherein the gray-scale resolution of liquid crystal on silicon (LCOS) imaging within a faint starlight simulator acts as a limiting factor for the precision of stellar position correction, this paper introduces a design approach for a cascaded architecture tailored to faint starlight simulators. Through the implementation of an isometric mapping technique that maps the dimming LCOS onto the surface of the imaging LCOS, the dimensionality of gray-scale adjustment for the imaging LCOS is augmented, thereby enhancing the accuracy of simulated stellar position correction. Initially, a stellar position cascaded modulation architecture is meticulously constructed to investigate the pivotal factors that impact the gray-scale resolution of the imaging LCOS within the framework of the cascaded modulation architecture. Subsequently, the optimization protocol for the concentrator system embedded within the cascaded modulation architecture is formulated. Leveraging the simulated annealing algorithm, the multi-parameter freeform surface of the concentrator system undergoes synchronous optimization. Finally, the simulation outcomes derived from the cascaded modulation architecture both prior to and subsequent to optimization clearly demonstrate that upon the implementation of the novel architecture, the accuracy of simulated stellar position correction experiences a notable enhancement of 62%. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Liquid crystals

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Terahertz time-of-flight tomography algorithm for different curvature samples

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Optics Express 2025年第7期33卷 15095-15109页

作者： Zhou, Yu Li, Quanyong Cui, Zongyu Zhang, Jiyang Ren, Jiaojiao Zhang, Dandan Gu, Jian Li, Haoxiang Lin, Zihao Key Laboratory of Optoelectronic Measurement and Control and Optical Information Transmission Technology Ministry of Education Changchun University of Science and Technology Changchun130022 China School of Optoelectronic Engineering Changchun University of Science and Technology Changchun130022 China Zhongshan Research Institute Changchun University of Science and Technology Zhongshan528403 China

Traditional guide rail-based terahertz reflection tomography works well with planar samples and complements transmission tomography. Most imaging methods perform effectively with plane-like or simple curvature samples. However, these methods are ineffective for complex shapes due to the challenges of dealing with internal corrections and stitching errors. To address the above issues, terahertz time-of-flight tomography is applied to the prepared samples with abnormal curvature using a rotating scanning array and "point cloud splicing" method. This approach enables comprehensive sample information collection and resolves the inner layer point cloud position correction challenge. A radial distance point cloud down-sampling method is proposed to reduce the impact of overlapping point clouds on reconstruction accuracy. After down-sampling, the outer layer reconstruction error reduces to 0.22%. Poisson surface reconstruction further enhances the intuitiveness of imaging results, and the reconstruction accuracy is 0.01 mm. This study broadens the application of terahertz time-of-flight tomography and offers a different approach for reflection tomography. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Surface reconstruction

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