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Characteristic model-based control of aerial manipulator for improved interaction stability

Science China(Technological Sciences) 2025年第4期68卷 166-178页

作者： Bingkai XIU Zhan LI Yipeng YANG Huijun GAO Research Institute of Intelligent Control and Systems Harbin Institute of TechnologyHarbin150001China State Key Laboratory of Robotics and Systems(HIT) Harbin Institute of TechnologyHarbin150001China

Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.

关键词： aerial manipulator interaction stability contact force observer characteristic model

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High-Performance Robust Synchronous control of Dual-Drive Gantry System via Composite Adaptive B-Spline Wavelet Neural Network

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IEEE Transactions on Automation Science and Engineering 2025年 22卷 14679-14688页

作者： Wang, Yuntong Liu, Yanbin Sun, Weichao Harbin Institute of Technology Research Institute of Intelligent Control and Systems Harbin150001 China

Complex uncertain dynamics and external disturbances have always been critical factors restricting the performance improvement of dual-drive gantry system (DDGS), especially the synchronization and robustness. To enhance the performance of DDGS in uncertain industrial environments, in this paper, a high-performance robust control method is proposed based on a novel composite adaptive B-spline wavelet neural network (CABWNN) estimator. Specifically, a composite adaptive robust synchronization control method with desired compensation is proposed based on a rotational dynamic coupling model of the system. This method combines the benefits of both direct and indirect adaptive robust control, achieving superior control performance while simultaneously mitigating the impact of measurement noise in the system. Additionally, a novel CABWNN estimator with a specially designed composite adaptive weight updating law is introduced to approximate the system uncertainties, which enhances the approximation accuracy. Under the proposed control method, the boundedness of all signals in the closed-loop has been proved in theory. Furthermore, comparative experiments on a dual-drive gantry system validate the superiority of the proposed control strategy. © 2004-2012 IEEE.

关键词： Robust control

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Distributed Maximum Correntropy Nonlinear Filter With Variance Correction Subject to Deception Attacks

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IEEE Transactions on Network Science and Engineering 2025年第3期12卷 1707-1719页

作者： Liu, Jingang Sun, Shuli Cheng, Guorui Song, Shenmin Harbin Institute of Technology Center for Control Theory and Guidance Technology Harbin150001 China Heilongjiang University School of Electronic Engineering Harbin150080 China North Automatic Control Technology Institute Taiyuan030006 China

This paper deals with the issue of state estimation for nonlinear non-Gaussian networks suffering from deception attacks. A novel distributed maximum correntropy filter with variance correction is proposed, which consists of local estimation and diffusion fusion. Firstly, the estimates from neighbor nodes are fused to obtain a common prediction estimate, as well as the upper bounds of the corresponding covariances are derived to avoid calculating correlated information. The chi-square test is employed to rectify the inaccurate noise variance caused by non-Gaussian noise and deception attacks. Based on minimum error and maximum correntropy criteria, distinct consensus gains and filtering gain for the local filter are derived. Then, local estimates of neighbor nodes are fused based on covariance intersection to enhance the accuracy of the node itself. The designed distributed structure combines the merits of consensus and diffusion filters, which can further enhance the estimation performance of the whole system. The statistical linearization and the cubature rule are applied to deal with nonlinear functions, avoiding Jacobi matrices and additional uncertain parameters. In addition, it is proved that the filtering covariance is bounded under certain conditions. Finally, simulation results verify the effectiveness and accuracy of the presented algorithm. © 2013 IEEE.

关键词： Wiener filtering

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A multistage intrusion detection method for alleviating class overlapping problem

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Neural Computing and Applications 2025年第6期37卷 4853-4867页

作者： Pang, He Jin, Fusheng Chen, Mengnan Jiang, Yutong Yuan, Ye Beijing Aerospace Automatic Control Institute Beijing100854 China School of Computer Science and Technology Beijing Institute of Technology Beijing100081 China

Intrusion detection system (IDS) can identify abnormal network traffic and attacks, which is an important means of network security defense. However, some intrusion data are often disguised as normal data for transmission, which increases the difficulty of intrusion data classification. In addition, the existing packet-based or flow-based data feature extraction methods result in low feature dimensions, causing the problem of class overlapping between different categories with the same features. To clarify, overlapping samples are those that overlap between erroneous samples and correct samples. Nonoverlapping samples are those in the test set that do not match the characteristics of the already identified overlapping samples and are therefore considered nonoverlapping samples. Therefore, the detection effect of some attacks with high concealment is poor. In order to solve the above problems, this paper proposes a multistage intrusion detection method: an existing intrusion detection model with higher classification performance (OBLR) is used to predict the data in the first stage. In the second stage, for the overlapping data in the confusing data, the method learns the distribution of each feature group according to the randomly divided "intermediary set," and realizes the prediction of overlapping samples through the prior distribution knowledge, and achieves efficient classification of overlapping samples without increasing the computational burden of the model. For nonoverlapping data in the confusing data, KPCA (kernel principal component analysis) dimension elevation is used in the third stage to capture more detailed difference information between samples, and GMM (Gaussian mixed model) is combined with the "representative samples" proposed in this paper to assist classifier classification. At the same time, all the base classifiers are integrated through LTR (learning to rank) to improve the classification effect of the model for nonoverlapping data in the

关键词： Network intrusion

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A reliability analysis method for electronic systems based on survival signature 3

A reliability analysis method for electronic systems based o...

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3rd International Conference on Electrical, Electronics, and Information Engineering, EEIE 2024

作者： Xiao, Ziwen Peng, Yu Liu, Sizhe Liu, Yuhang Yang, Zhiming Yu, Yang Harbin Institute of Technology Harbin China Beijing Aerospace Automatic Control Institute Beijing China

ISBN: (纸本)9781510688179

Due to the complex structure and numerous electronic components, the reliability analysis of electronic systems has become more challenging. Therefore, we propose a reliability analysis method for electronic systems based on survival signature. The level of fault impact factors is evaluated based on the survival signature theory, and the weight of fault impact factors is evaluated through the analytic hierarchy process. This method simplifies the structural analysis process of complex systems, making reliability analysis more objective and efficient. The effectiveness of this method was verified through reliability analysis of the digital output control circuit. © The Authors.

关键词： analytic hierarchy process Electronic systems reliability analysis survival signature

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Guided Swarm Self-Clustering in Safe Area

Guided Swarm Self-Clustering in Safe Area

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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Jain, Sweksha Vachhani, Leena Indian Institute of Technology Centre for Systems and Control Bombay India

ISBN: (纸本)9798331531614

In high-stress situations, guiding a non-communicating, location-unaware swarm to the safe area is challenging, especially as they self-organize into clusters with nearby agents. This paper presents a novel decentralized non-interacting swarm algorithm to form guided swarm clusters autonomously in an area without nearby danger, termed as "safe area". The proposed strategy guides the swarm of robots towards safe area to form self-clusters in a bounded environment. It is achieved by fixing the locations of static obstacles which prevents cluster formation in the danger area. We evaluate the performance based on cluster formation in the safe area. The Monte-Carlo simulations are performed with varying percentage occupancy of obstacles in danger area, where we achieved percentage of convergence (PoC) in safe area over 85% (on an average). The proposed algorithm potentially find its application in a crowded environment, while evacuating to a safer area during emergency. © 2025 IEEE.

关键词： Intelligent systems

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On Data-Driven Stochastic Output-Feedback Predictive control

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IEEE Transactions on automatic control 2025年第5期70卷 2948-2962页

作者： Pan, Guanru Ou, Ruchuan Faulwasser, Timm TU Dortmund University Institute for Energy Systems Energy Efficiency and Energy Economics Dortmund Germany Hamburg University of Technology Institute of Control Systems Hamburg21073 Germany

The fundamental lemma by J. C. Willems and coauthors enables the representation of all input–output trajectories of a linear time-invariant (LTI) system by measured input–output data. This result has proven to be pivotal for data-driven control. Building on a stochastic variant of the fundamental lemma, this article presents a data-driven output-feedback predictive control scheme for stochastic LTI systems. The considered LTI systems are subject to non-Gaussian disturbances about which only information about their first two moments is known. Leveraging polynomial chaos expansions, the proposed scheme is centered around a data-driven stochastic optimal control problem (OCP). Through tailored online design of initial conditions, we provide sufficient conditions for the recursive feasibility of the proposed output-feedback scheme based on a data-driven design of the terminal ingredients of the OCP. Furthermore, we provide a robustness analysis of the closed-loop performance. A numerical example illustrates the efficacy of the proposed scheme. © 1963-2012 IEEE.

关键词： Predictive control systems

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Formation control and path planning of multi-robot systems via large language models

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Science China(Information Sciences) 2025年第5期68卷 72-88页

作者： Dong XUE Xuanjie ZHOU Ming WANG Fangzhou LIU Key Laboratory of Smart Manufacturing in Energy Chemical Process Ministry of EducationEast China University of Science and Technology Research Institute of Intelligent Control and Systems School of Astronautics Harbin Institute of Technology

Existing path planning and coordination control methods for multi-robot systems(MRS) typically rely on predefined rules and rudimentary algorithms. However, these methods often struggle to adapt flexibly to complex environments and to adjust motion targets appropriately. To address this challenge, this study presents a large language model(LLM)-assisted framework. By integrating textual descriptions of complex motion constraints, robot information, and local environmental data as inputs, LLMs generate motion objectives and translate them into executable control commands for the robots, thereby achieving coordinated control and path planning. This framework facilitates the generation, maintenance, and reshaping of formations in MRSs during path planning, applicable to both obstacle-free and obstacle-avoidance environments. Simulation results demonstrate that LLM-based control strategies enhance the autonomy, adaptability, flexibility, and robustness of MRS by processing complex information, making intelligent decisions, adapting to environmental changes, and handling disturbances and uncertainties.

关键词： multi-robot systems formation control path planning obstacle avoidance large language models

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Fuzzy-Model-Based Fault-Tolerant control for Stochastic Re-Entrant Manufacturing systems

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IEEE Transactions on systems, Man, and Cybernetics: systems 2025年第5期55卷 3542-3556页

作者： Zhang, Kexin Gao, Qing Ding, Steven X. Lu, Jinhu Qiu, Jianbin Guo, Yige Beihang University School of Cyber Science and Technology Beijing100191 China Beihang University School of Automation Science and Electrical Engineering Beijing100191 China Hangzhou Innovation Institute Beihang University Hangzhou310051 China Zhongguancun Laboratory Beijing100095 China Institute for Automatic Control and Complex Systems University of Duisburg-Essen Duisburg47057 Germany Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China Zhongguancun Laboratory Beijing China

This study addresses the problem of guaranteed cost fault-tolerant fuzzy control for multiline re-entrant manufacturing systems (RMSs) against stochastic disturbances and workstation faults. Initially, a nonlinear hyperbolic impulsive partial differential equation model is employed to describe the complex and hybrid dynamics of RMSs suffering from unexpected faults within the working stations, and then the corresponding approximation T-S fuzzy model is constructed. In what follows, with the aid of the parallel distributed compensation fuzzy control scheme, the main results of stability analysis and controller synthesis for the closed-loop re-entrant manufacturing control system are derived using a timer-dependent Lyapunov functional with spatio-temporal auxiliary variables. It is found that by means of the proposed fault-tolerant control approach, the RMS can be effectively and robustly driven to a desired production mode with steady feeding and production rates while the upper bound of a quadratic cost function is minimized. Finally, the effectiveness of the proposed control approach is validated through numerical simulations. © 2013 IEEE.

关键词： Fuzzy control

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control Architecture and Nonlinear MPC for Hybrid UAVs with Actuator Failure

Control Architecture and Nonlinear MPC for Hybrid UAVs with ...

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AIAA Science and technology Forum and Exposition, AIAA SciTech Forum 2025

作者： Strampe, Tilman Zhang, Yifan Institute for Flight Systems and Automatic Control Technical University Darmstadt64285 Germany Technical University Darmstadt64285 Germany

ISBN: (数字)9781624107238

ISBN: (纸本)9781624107238

Anovel control architecture is proposed to handle actuator failures in hybrid unmanned aerial vehicles (UAV). After detection of the failure, we switch from the nominal control law to a nonlinear model predictive controller (NMPC) that tracks a reference trajectory to a safe set in the state space. Once the safe set is reached, a safe set controller stabilizes the system without usage of the failed actuator. The approach is applied to a quad-plane UAV which cannot continue hover flight if one of four rotors fails. Numerical simulations show the feasibility of the method and successful recovery of the quad-plane UAV to the aerodynamic flight is achieved. © 2025, American institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Unmanned aerial vehicles (UAV)

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