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Novel sliding-mode disturbance observer-based tracking control with applications to robot manipulators

Science China(Information Sciences) 2021年第7期64卷 80-91页

作者： Tairen SUN Long CHENG Zengguang HOU Min TAN School of Electrical and Information Engineering Jiangsu University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences School of Artificial Intelligence University of Chinese Academy of Sciences

This paper proposes a sliding-mode disturbance observer(SMDOB)-based tracking controller for a class of nonlinear systems with modeling uncertainties and external disturbances. The SMDOB is constructed using an extended state observer embedded by a filtered sliding mode term. The chattering caused by the sliding mode is compressed by the frequency bandwidths of both the extended state observer and the control system. The novelties of the proposed controller are as follows:(1) The semiglobal asymptotical stability of the combined controller-observer system is guaranteed without the boundedness assumption of the time derivatives of modeling uncertainties;(2) the SMDOB can be implemented with a low complexity because of only three parameters to be tuned. Applications to robot manipulators illustrate the effectiveness of the SMDOB-based tracking control strategy.

关键词： adaptive control robot manipulator disturbance observer sliding mode

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Multi-modal fusion for robust hand gesture recognition based on heterogeneous networks

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Science China(Technological Sciences) 2023年第11期66卷 3219-3230页

作者： ZOU YongXiang CHENG Long HAN LiJun LI ZhengWei School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China

Hand gesture recognition has become a vital subject in the fields of human-computer interaction and rehabilitation *** paper presents a multi-modal fusion for hand gesture recognition(MFHG)model,which uses two heterogeneous networks to extract and fuse the features of the vision-based motion signals and the surface electromyography(s EMG)signals,*** extract the features of the vision-based motion signals,a graph neural network,named the cumulation graph attention(CGAT)model,is first proposed to characterize the prior knowledge of motion coupling between finger *** CGAT model uses the cumulation mechanism to combine the early and late extracted features to improve motion-based hand gesture *** the s EMG signals,a time-frequency convolutional neural network model,named TF-CNN,is proposed to extract both the signals'time-domain and frequency-domain *** improve the performance of hand gesture recognition,the deep features from multiple modes are merged with an average layer,and then the regularization items containing center loss and the mutual information loss are employed to enhance the robustness of this multi-modal ***,a data set containing the multi-modal signals from seven subjects on different days is built to verify the performance of the multi-modal *** experimental results indicate that the MFHG can reach 99.96%and 92.46%accuracy on hand gesture recognition in the cases of within-session and cross-day,respectively.

关键词： leap motion s EMG multi-modal graph neural network hand gesture recognition

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From Plant Modeling to Narrative Science:Growing and Enjoying Scientific Fruits Naturally and Humanistically

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IEEE/CAA Journal of Automatica Sinica 2024年第12期11卷 2522-2524页

作者： Fei-Yue Wang IEEE Macao University of Science and Technology Macao 999078China the State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing 100190China

Dear Editor,Modeling is the first and essential step for control and automation,and large models,from current Chat GPT or large language models(LLMs)to future large knowledge models of knowledge automation,would be th... 详细信息

关键词： smart knowledge automation

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AirVista-II: An Agentic System for Embodied UAVs Toward Dynamic Scene Semantic Understanding

arXiv

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arXiv 2025年

作者： Lin, Fei Tian, Yonglin Zhang, Tengchao Huang, Jun Guan, Sangtian Wang, Fei-Yue Department of Engineering Science Faculty of Innovation Engineering Macau University of Science and Technology 999078 China State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

Unmanned Aerial Vehicles (UAVs) are increasingly important in dynamic environments such as logistics transportation and disaster response. However, current tasks often rely on human operators to monitor aerial videos and make operational decisions. This mode of human-machine collaboration suffers from significant limitations in efficiency and adaptability. In this paper, we present AirVista-II—an end-to-end agentic system for embodied UAVs, designed to enable general-purpose semantic understanding and reasoning in dynamic scenes. The system integrates agent-based task identification and scheduling, multimodal perception mechanisms, and differentiated keyframe extraction strategies tailored for various temporal scenarios, enabling the efficient capture of critical scene information. Experimental results demonstrate that the proposed system achieves high-quality semantic understanding across diverse UAV-based dynamic scenarios under a zero-shot setting. Copyright © 2025, The Authors. All rights reserved.

关键词： Drones

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Off-policy integral reinforcement learning optimal tracking control for continuous-time chaotic systems

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Chinese Physics B 2015年第9期24卷 147-152页

作者：魏庆来宋睿卓孙秋野肖文栋 The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences School of Automation and Electrical Engineering University of Science and TechnologyBeijing School of Information Science and Engineering Northeastern University

This paper estimates an off-policy integral reinforcement learning（IRL） algorithm to obtain the optimal tracking control of unknown chaotic systems. Off-policy IRL can learn the solution of the HJB equation from the system data generated by an arbitrary control. Moreover, off-policy IRL can be regarded as a direct learning method, which avoids the identification of system dynamics. In this paper, the performance index function is first given based on the system tracking error and control error. for solving the Hamilton–Jacobi–Bellman（HJB） equation, an off-policy IRL algorithm is *** is proven that the iterative control makes the tracking error system asymptotically stable, and the iterative performance index function is convergent. Simulation study demonstrates the effectiveness of the developed tracking control method.

关键词： adaptive dynamic programming approximate dynamic programming chaotic system optimal tracking control

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Clique-based Cooperative Multiagent Reinforcement Learning Using Factor Graphs

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IEEE/CAA Journal of Automatica Sinica 2014年第3期1卷 248-256页

作者： Zhen Zhang Dongbin Zhao the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Department of Electric Engineering College of Automation EngineeringQingdao University

In this paper,we propose a clique-based sparse reinforcement learning(RL) algorithm for solving cooperative *** aim is to accelerate the learning speed of the original sparse RL algorithm and to make it applicable for tasks decomposed in a more general ***,a transition function is estimated and used to update the Q-value function,which greatly reduces the learning ***,it is more reasonable to divide agents into cliques,each of which is only responsible for a specific *** this way,the global Q-value function is decomposed into the sum of several simpler local Q-value *** decomposition is expressed by a factor graph and exploited by the general maxplus algorithm to obtain the greedy joint *** results show that the proposed approach outperforms others with better performance.

关键词： Sensors Games Learning (artificial intelligence) Approximation algorithms Algorithm design and analysis Heuristic algorithms Sparse matrices

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Social Media Based Transportation Research: the state of the Work and the Networking

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IEEE/CAA Journal of Automatica Sinica 2017年第1期4卷 19-26页

作者： Yisheng Lv Yuanyuan Chen Xiqiao Zhang Yanjie Duan Naiqiang Li State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Qingdao Academy of Intelligent Industries Department of Transportation Engineering School of Transportation Science and Technology Harbin Institute of Technology

Recently, there has been an increased interest in the use of social media data as important traffic information sources. In this paper, we review social media based transportation research with social network analysis *** summarize main research topics in this field, and report collaboration patterns at levels of researchers, institutions, and countries, respectively. Finally, some future research directions are identified. © 2014 Chinese Association of Automation.

关键词： Traffic control Transportation

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Optimization of Grouping Evacuation Strategy in High-rise Building Fires Based on Graph Theory and Computational Experiments

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IEEE/CAA Journal of Automatica Sinica 2018年第6期5卷 1104-1112页

作者： Yuling Hu Xiwei Liu School of Electrical and Information Engineering Beijing University of Civil Engineering and Architecture Beijing 100044China Beijing Key Laboratory of Intelligent Processing for Building Big Data Beijing 100044China State Key Laboratory fo Management and Control for Complex Systems Institute of Automation Chinese Academy of SciencesBeijing 100190China Qingdao Academy of Intelligent Industries Qingdao 266109China

It is difficult to rescue people from outside, and emergency evacuation is still a main measure to decrease casualties in high-rise building fires. To improve evacuation efficiency, a valid and easily manipulated grouping evacuation strategy is proposed. Occupants escape in groups according to the shortest evacuation route is determined by graph theory. In order to evaluate and find the optimal grouping, computational experiments are performed to design and simulate the evacuation processes. A case study shown the application in detail and quantitative research conclusions is obtained. The thoughts and approaches of this study can be used to guide actual high-rise building evacuation processes in future.

关键词： Computational experiments grouping evacuation graph theory high-rise building fire management strategies

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Development and control of Underwater Gliding Robots:A Review

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IEEE/CAA Journal of Automatica Sinica 2022年第9期9卷 1543-1560页

作者： Jian Wang Zhengxing Wu Huijie Dong Min Tan Junzhi Yu the State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 the School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049China the State Key Laboratory for Turbulence and Complex System Department of Mechanics and Engineering ScienceBIC-ESATCollege of EngineeringPeking UniversityBeijing 100871China

As one of the most effective vehicles for ocean development and exploration,underwater gliding robots(UGRs)have the unique characteristics of low energy consumption and strong ***,by borrowing the motion principles of current underwater robots,a variety of novel UGRs have emerged with improving their maneuverability,concealment,and environmental friendliness,which significantly broadens the ocean *** this paper,we provide a comprehensive review of underwater gliding robots,including prototype design and their key *** the perspective of motion characteristics,we categorize the underwater gliding robots in terms of traditional underwater gliders(UGs),hybrid-driven UGs,bio-inspired UGs,thermal UGs,and ***,their buoyancy driven system,dynamic and energy model,and motion control are concluded with detailed ***,we have discussed the current critical issues and future *** review offers valuable insight into the development of next-generation underwater robots well-suited for various oceanic applications,and aims to gain more attention of researchers and engineers to this growing field.

关键词： Buoyancy driven motion control oceanic applications system development underwater gliding robots

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Relaying Strategy Based on Estimated Information for Multi-Antenna Cooperative Networks

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China Communications 2017年第8期14卷 157-165页

作者： Shuangshuang Han Peng Zhang Feijin Shi Fei-Yue Wang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of SciencesBeijingChina and Qingdao Academy of Intelligent Industries School of Computer Engineering Weifang University Communications Headquarters Ministry of Foreign Affairs of the People's Republic of China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijingChina and Research Center of Computational Experiments and Parallel SystemsThe National University of Defense Technology

A sphere-based list forwarding scheme for multiple-input multiple-output(MIMO) relay networks is proposed and analyzed. Firstly, an estimate forwarding(EF) method is proposed, which forwards the minimum mean squared error(MMSE) estimate of the source data to the destination. Since it performs like amplify-and-forward(AF) and decode-and-forward(DF) for the low and high signal-to-noise ratio(SNR) regions, respectively, the EF relay thus outperforms conventional AF and DF across all SNRs without the need for switching algorithms for different SNRs. Because computational complexity is however high for relays with a large number of antennas(large MIMO) and/or high order constellations, list EF for large MIMO relay networks is proposed. It computes a list sphere decoder based MMSE estimate and retains the advantages of the exact EF relay at a negligible performance loss. The proposed list EF could offer a flexible trade-off between the performance and computational complexity.

关键词： MIMO system cooperative network soft information

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