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Prescribed-time adaptive event-triggered control for robot manipulators based on command filtering

ISA Transactions 2025年

作者： Yongling Xia Yanbin Liu Weichao Sun School of Harbin Institute of Technology Harbin 150000 China State Key Laboratory of Robotics and Systems (HIT) Harbin 150000 China

This article investigates the prescribed-time tracking control of uncertain manipulator systems with external disturbances. Combining with command filtering and neural network techniques, a novel prescribed-time adaptive event-triggered control scheme is proposed, where neural networks are utilized to handle manipulators model uncertainties. Based on a piecewise function, a sufficient condition for prescribed-time stability is provided, which decouples the convergence domain and the settling time into separately preset parameters. The proposed approach not only avoid the “explosion of complexity” problem, but also deal with filter errors by using an error compensation strategy. In addition, an adaptive estimation strategy is developed to compensate for external disturbances, and an event trigger mechanism is introduced to save system communication resources. Finally, the superiority of our proposed prescribed-time control approach is demonstrated via simulation results.

关键词： Command filter Event-triggered Neural networks Prescribed-time

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HierDAMap: Towards Universal Domain Adaptive BEV Mapping via Hierarchical Perspective Priors

arXiv

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arXiv 2025年

作者： Li, Siyu Cao, Yihong Shi, Hao Zang, Yongsheng He, Xuan Yang, Kailun Li, Zhiyong School of Robotics the National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University Hangzhou310027 China College of Computer Science and Electronic Engineering Hunan University Changsha410082 China Hunan Vanguard Group Corporation Limited Changsha410100 China

The exploration of Bird’s-Eye View (BEV) mapping technology has driven significant innovation in visual perception technology for autonomous driving. BEV mapping models need to be applied to the unlabeled real world, making the study of unsupervised domain adaptation models an essential path. However, research on unsupervised domain adaptation for BEV mapping remains limited and cannot perfectly accommodate all BEV mapping tasks. To address this gap, this paper proposes HierDAMap, a universal and holistic BEV domain adaptation framework with hierarchical perspective priors. Unlike existing research that solely focuses on image-level learning using prior knowledge, this paper explores the guiding role of perspective prior knowledge across three distinct levels: global, sparse, and instance levels. With these priors, HierDA consists of three essential components, including Semantic-Guided Pseudo Supervision (SGPS), Dynamic-Aware Coherence Learning (DACL), and Cross-Domain Frustum Mixing (CDFM). SGPS constrains the cross-domain consistency of perspective feature distribution through pseudo labels generated by vision foundation models in 2D space. To mitigate feature distribution discrepancies caused by spatial variations, DACL employs uncertainty-aware predicted depth as an intermediary to derive dynamic BEV labels from perspective pseudo-labels, thereby constraining the coarse BEV features derived from corresponding perspective features. CDFM, on the other hand, leverages perspective masks of view frustum to mix multi-view perspective images from both domains, which guides cross-domain view transformation and encoding learning through mixed BEV labels. Furthermore, this paper introduces intra-domain feature exchange data augmentation to enhance the efficiency of domain adaptation learning. The proposed method is verified on multiple BEV mapping tasks, such as BEV semantic segmentation, high-definition semantic, and vectorized mapping. It demonstrates competitive perfo

关键词： Birds

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A Comprehensive Review of Humanoid Robots

SmartBot

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SmartBot 2025年第1期1卷

作者： Qincheng Sheng Zhongxiang Zhou Jinhao Li Xiangyu Mi Pingyu Xiang Zhenghan Chen Haocheng Xu Shenhan Jia Xiyang Wu Yuxiang Cui Shuhao Ye Jiyu Yu Yuhan Du Shichao Zhai Kechun Xu Yifei Yang Zhichen Lou Zherui Song Zikang Yin Yu Sun Rong Xiong Jun Zou Huayong Yang State Key Laboratory of Fluid Power and Mechatronic Systems School of Mechanical Engineering Zhejiang University Hangzhou China State Key Laboratory of Industrial Control Technology School of Control Science and Engineering Zhejiang University Hangzhou China

Humanoid robots, increasingly recognized for their potential to drive economic and social development, have garnered significant attention in recent years. This paper aims to provide a comprehensive overview of the progress, challenges, and future directions in humanoid robotics, with a particular emphasis on essential system components and key technological innovations. Through a review of historical milestones, this paper explores critical aspects such as the design of the head and body, and examines state-of-the-art technologies in areas like locomotion control, perception, and intelligent manipulation. By presenting a thorough analysis of the field, this work aims to serve as a valuable resource for researchers and inspire future innovations that will drive the continued evolution of humanoid robots.

关键词： challenges and trends humanoid robot humanoid robot components key technologies

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Wheel slip-sinkage and its prediction model of lunar rover

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Journal of Central South University 2010年第1期17卷 129-135页

作者：丁亮高海波邓宗全陶建国 Aerospace Mechanism and Control Key Laboratory of Fundamental Science for National Defense Harbin Institute of Technology State Key Laboratory of Robotics and System Ha rbin Institute of Technology

In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0-0.6). The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3-7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar's rover lugged wheels (including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs) was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage.

关键词： lunar rover slip-sinkage loose lunar soil stress distribution slip ratio

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Active control of Free Paraboloidal Membrane Shells Using Photostrictive Actuators

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Transactions of Tianjin University 2011年第1期17卷 6-12页

作者：王新杰岳洪浩邓宗全 State Key Laboratory of Robotics and Systems Harbin Institute of Technology Research Center of Aerospace Mechanism and Control Harbin Institute of Technology

The paraboloidal membrane shell with free boundary condition is actively controlled using photostrictive actuators which can provide contactless actuation under the illumination of ultraviolet light. The governing equations of the paraboloidal shell laminated with paired photostrictive actuators are established based on membrane approximation. The modal control actions of meridional/circumferential actuators are respectively formulated and evaluated by case studies. Constant light intensity related to the velocity of the shell is adopted, and then the governing equations are written in a closed-loop form which can be solved with Newmark-β method. Considering the multi-field coupling behavior of photostrictive actuators, time histories of transverse displacement and control light intensity are simulated and evaluated. The results show that photostrictive actuators can effectively control the vibration of the paraboloidal membrane shell, and the photostrictive actuators oriented along circumferential direction can give better control effect than photostrictive actuators placed along the meridional direction.

关键词： photostrictive actuator paraboloidal shell active control membrane approximation

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Configuration Synthesis and Performance Evaluation Metrics of Lunar Rover Locomotion systems

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Transactions of Tianjin University 2009年第3期15卷 193-200页

作者：邓宗全张朋高海波胡明 State Key Laboratory of Robotics and Systems Harbin Institute of Technology Research Center of Aerospace Mechanism and Control Harbin Institute of Technology

A method of topology synthesis based on graph theory and mechanism combination theory was applied to the configuration design of locomotion systems of lunar exploration rovers(LER).Through topology combination of wheel structural unit,suspension unit,and connecting device unit between suspension and load platform,some new locomotion system configurations were proposed and the metrics and indexes to evaluate the performance of the new locomotion system were *** evaluation and comparison between two LER with locomotion systems of different configurations were *** analysis results indicate that the new locomotion system configuration has good trafficability performance.

关键词： configuration synthesis evaluation metrics locomotion system lunar rover

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Vision-based Stabilization of Nonholonomic Mobile Robots by Integrating Sliding-mode control and Adaptive Approach

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Chinese Journal of Mechanical Engineering 2013年第1期26卷 21-28页

作者： CAO Zhengcai YIN Longjie FU Yili College of Information Science and Technology Beijing University of Chemical Technology The State Key Laboratory of Robotics and Systems Harbin Institute of Technology

Vision-based pose stabilization of nonholonomic mobile robots has received extensive attention. At present, most of the solutions of the problem do not take the robot dynamics into account in the controller design, so that these controllers are difficult to realize satisfactory control in practical application. Besides, many of the approaches suffer from the initial speed and torque jump which are not practical in the real world. Considering the kinematics and dynamics, a two-stage visual controller for solving the stabilization problem of a mobile robot is presented, applying the integration of adaptive control, sliding-mode control, and neural dynamics. In the first stage, an adaptive kinematic stabilization controller utilized to generate the command of velocity is developed based on Lyapunov theory. In the second stage, adopting the sliding-mode control approach, a dynamic controller with a variable speed function used to reduce the chattering is designed, which is utilized to generate the command of torque to make the actual velocity of the mobile robot asymptotically reach the desired velocity. Furthermore, to handle the speed and torque jump problems, the neural dynamics model is integrated into the above mentioned controllers. The stability of the proposed control system is analyzed by using Lyapunov theory. Finally, the simulation of the control law is implemented in perturbed case, and the results show that the control scheme can solve the stabilization problem effectively. The proposed control law can solve the speed and torque jump problems, overcome external disturbances, and provide a new solution for the vision-based stabilization of the mobile robot.

关键词： nonholonomic mobile robots vision-based stabilization sliding-mode control adaptive control neural dynamics

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Time-delayed bilateral teleoperation using wave variable with prediction in three channel control architecture

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High Technology Letters 2013年第1期19卷 12-17页

作者：于振中 Yan Jihong Hui Jing Zhao Jie Ma Yonghu Key Laboratory of Advanced Process Control for Light Industry Ministry of Education Jiangnan University State Key Laboratory of Robotics and System Harbin Institute of Technology

This paper proposes a novel method for incorporating wave domain prediction in a three-channel(3CH)architecture,which is the optimal architecture from a transparency point of view,to overcome the poor transparency problem of using the wave variable method in a time-delay teleoperation system.A 3CH teleoperation control architecture is established by selecting parameters of the 4CH architecture sensibly for the system without force sensor in the master *** communication channel is divided into a two-port model by combining force and velocity information reasonably to extend the wave variable method to a 3CH *** the I/O signal of the two-port model is transformed into wave variable.A predictor is added to the wave domain of the master side to further improve the transparency of the system,and a regulator is designed to ensure the passivity of the *** results show that the proposed method can guarantee stability and improve the transparency of the teleoperation system with time-delay.

关键词： bilateral teleoperation three-channel wave variable wave domain prediction time-delay

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Kinematic modeling and analysis of novel eight-wheel lunar rover

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Journal of Harbin Institute of Technology(New Series) 2009年第6期16卷 751-755页

作者：高海波张朋邓宗全胡明 State Key Laboratory of Robotics and Systems School of Mechatronic Engineering Harbin Institute of Technology

A new kind of eight-wheel lunar rover is developed, which is a complex closed-chain system and has good capabilities of climbing slope, surmounting obstacles and adapting to uneven terrain. In this paper, the mechanical structure of the novel eight-wheel lunar rover is introduced, forward and inverse kinematic models of the rover are established according to the closed-chain coordinate transformation and instantaneous coincidence coordinate. Based on structural characteristics, its kinetic characteristics are analyzed. Wheel slippages are separated and calculated, and a method for closed-loop control modification using wheel slip estimation during the model establishment is proposed. The results can be applied to the motion control of lunar rover.

关键词： kinematic modeling locomotion system eight-wheel lunar rover lunar rover

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A surface defect detection method for steel pipe based on improved YOLO

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Mathematical Biosciences and Engineering 2024年第2期21卷 3016-3036页

作者： Wang, Lili Song, Chunhe Wan, Guangxi Cui, Shijie State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China College of Information Liaoning University Shenyang110036 China

Surface defect detection is of great significance as a tool to ensure the quality of steel pipes. The surface defects of steel pipes are charactered by insufficient texture, high similarity between different types of defects, large size differences, and high proportions of small targets, posing great challenges to defect detection algorithms. To overcome the above issues, we propose a novel steel pipe surface defect detection method based on the YOLO framework. First, for the problem of a low detection rate caused by insufficient texture and high similarity among different types of defects of steel pipes, a new backbone block is proposed. By increasing high-order spatial interaction and enhancing the capture of internal correlations of data features, different feature information for similar defects is extracted, thereby alleviating the false detection rate. Second, to enhance the detection performance for small defects, a new neck block is proposed. By fusing multiple features, the accuracy of steel pipe defect detection is improved. Third, for the problem of a low detection rate causing large size differences in steel pipe surface defects, a novel regression loss function that considers the aspect ratio and scale is proposed, and the focal loss is introduced to further solve the sample imbalance problem in steel pipe defect datasets. The experimental results show that the proposed method can effectively improve the accuracy of steel pipe surface defect detection. © 2024 American Institute of Mathematical Sciences. All rights reserved.

关键词： Aspect ratio

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