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学者姓名：黄宴委
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Abstract ：
To suppress false data injection (FDI) attacks, a back-stepping (BS) control with the compensator of game approximate dynamic programming (GADP) (BS-GADP) is proposed to securely track trajectory for unmanned surface vehicle (USV). Firstly, a nonlinear parameter-varying (NPV) model with FDI is established for USV. Secondly, approximate dynamic programming (ADP) based virtual guidance law (VGL) is proposed with an equivalent VGL (EVGL) and a compensatory VGL (CVGL) by ADP to reduce the guidance cost. Thirdly, GADP compensator is proposed to improve the BS controller by the uniformly ultimately bounded (UUB) stability conditions, which is derived by the Lyapunov function of dynamic error for the affection of FDI. Moreover, GADP compensator is implemented by zero-sum game value iterative (ZSG-VI) algorithm. Finally, simulations and experiments show that BS-GADP system performance excels in resisting FDI for secure trajectory tracking.
Keyword ：
False data injections False data injections Game approximate dynamic programming Game approximate dynamic programming Trajectory tracking Trajectory tracking USV USV Virtual guidance law Virtual guidance law
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| GB/T 7714 | Huang, Yanwei , Guozhen, Lai . ADP-based secure trajectory tracking for unmanned surface vehicles with false data injections [J]. | OCEAN ENGINEERING , 2025 , 328 . |
| MLA | Huang, Yanwei 等. "ADP-based secure trajectory tracking for unmanned surface vehicles with false data injections" . | OCEAN ENGINEERING 328 (2025) . |
| APA | Huang, Yanwei , Guozhen, Lai . ADP-based secure trajectory tracking for unmanned surface vehicles with false data injections . | OCEAN ENGINEERING , 2025 , 328 . |
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A path-following control scheme is proposed using finite-time convergence line-of-sight (FCL) to achieve rapid convergence of position errors for an unmanned surface vehicle (USV). FCL combines classical line-of-sight (LOS) guidance with finite-time stability theory to ensure that the position of the USV converges to the reference path within a predetermined finite time. Specifically, a USV model is developed to analyze target tracking. Moreover, a novel cross-tracking error function is designed with hyperbolic characteristics for FCL through an analysis of the relationship between convergence speed and cross-tracking error function. Further, the path-following system stability with FCL and finite-time controllers is analyzed to indicate the smaller value of the upper bound of the system convergence time by comparisons. Finally, simulations and experiments are performed to verify that FCL has a faster convergence speed than the LOS with error sign function (LS) and the linear cross-tracking error function (LLCF), and a wider algorithm parameter tuning range compared to LS.
Keyword ：
Accuracy Accuracy Autonomous vehicles Autonomous vehicles Control systems Control systems Convergence Convergence Convergence speed Convergence speed hyperbolic characteristics hyperbolic characteristics line-of-sight (LOS) guidance law line-of-sight (LOS) guidance law Line-of-sight propagation Line-of-sight propagation Neural networks Neural networks path following path following Stability criteria Stability criteria Surges Surges Target tracking Target tracking unmanned surface vehicle (USV) unmanned surface vehicle (USV) Vehicle dynamics Vehicle dynamics
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| GB/T 7714 | Huang, Yanwei , Lai, Guozhen , Lin, Feng et al. Path Following With Finite-Time Convergence for Unmanned Surface Vehicle [J]. | IEEE JOURNAL OF OCEANIC ENGINEERING , 2025 , 50 (2) : 1153-1164 . |
| MLA | Huang, Yanwei et al. "Path Following With Finite-Time Convergence for Unmanned Surface Vehicle" . | IEEE JOURNAL OF OCEANIC ENGINEERING 50 . 2 (2025) : 1153-1164 . |
| APA | Huang, Yanwei , Lai, Guozhen , Lin, Feng , Shi, Xiaocheng , Li, Dongfang . Path Following With Finite-Time Convergence for Unmanned Surface Vehicle . | IEEE JOURNAL OF OCEANIC ENGINEERING , 2025 , 50 (2) , 1153-1164 . |
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The position of a macrocrack within a circular tube can be determined through the periodic energy distribution variation of a linear non-axisymmetric guided wave. However, to determine the positions of a microcrack within a circular tube is still a difficult job, even for the nonlinear guided wave. Unlike the linear guided wave can detect the axial position through the reflection from a macrocrack, a fatigue crack does not even cause remarkable reflection. This paper investigates the energy concentration degree periodical variation rule of fatigue crack- induced second harmonic non-axisymmetric guided wave within a circular tube. The quantitative relationship between the energy concentration degree and its propagated axial distance is potential to be used to detect a fatigue crack and characterize its axial, circumferential positions. To facilitate the investigation, a specific frequency extracting method was optimized to extract the second harmonic non-axisymmetric guided wave. In addition, an energy concentration degree coefficient was designed to characterize the energy distribution. The fundamental, numerical and experimental work were implemented to verify the studied energy concentration degree periodical variation rule.
Keyword ：
Circular tube Circular tube Energy concentration Energy concentration Fatigue crack Fatigue crack Non-axisymmetric guided wave Non-axisymmetric guided wave Second-harmonic wave Second-harmonic wave
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| GB/T 7714 | Fang, Zhou , Lin, Conglin , Huang, Yanwei . Energy concentration degree periodical variation rule of fatigue crack-induced second harmonic non-axisymmetric guided wave within circular tubes [J]. | NDT & E INTERNATIONAL , 2025 , 151 . |
| MLA | Fang, Zhou et al. "Energy concentration degree periodical variation rule of fatigue crack-induced second harmonic non-axisymmetric guided wave within circular tubes" . | NDT & E INTERNATIONAL 151 (2025) . |
| APA | Fang, Zhou , Lin, Conglin , Huang, Yanwei . Energy concentration degree periodical variation rule of fatigue crack-induced second harmonic non-axisymmetric guided wave within circular tubes . | NDT & E INTERNATIONAL , 2025 , 151 . |
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The adhesive layer between an ultrasonic transducer and a circular tube can generate a nonlinear signal during guided wave excitation and reception, which is called adhesive nonlinearity (AN). It may override the damage-related signals and result in false detection if not adequately evaluated and mitigated. This study investigated the AN of the guided wave excitation model composed of a piezoelectric array in a circular tube structure. The classical shear stress lag model was extended to the circumference pasted piezoelectric array-based nonlinear shear stress lag model to investigate the coupling properties of the AN and to evaluate the AN by comparing it with other nonlinear factors within a circular tube structure. On this basis, the nonlinear shear stress was combined with the normal mode expansion to establish a frequency tuning model for the AN, which allowed the effect of the AN to be minimized by adjusting the half-wavelength of the guided wave to match the length of the actuator. Finite-element analyses and experiments validated the tuning characteristics of the AN mentioned above. This work was used to mitigate the effect of the AN on the nonlinear guided wave during thermal damage evaluation. (c) 2025 Author(s). All article content, except where otherwise noted, is licensed under a Creative Commons Attribution-NonCommercial-NoDerivs 4.0 International (CC BY-NC-ND) license (https://creativecommons.org/licenses/by-nc-nd/4.0/).https://doi.org/10.1063/5.0243631
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| GB/T 7714 | Fang, Zhou , Lin, Zuxiong , Huang, Yanwei . Adhesive nonlinearity analysis of longitudinal guided wave using circumference pasted piezoelectric array based nonlinear shear stress lag model [J]. | JOURNAL OF APPLIED PHYSICS , 2025 , 137 (3) . |
| MLA | Fang, Zhou et al. "Adhesive nonlinearity analysis of longitudinal guided wave using circumference pasted piezoelectric array based nonlinear shear stress lag model" . | JOURNAL OF APPLIED PHYSICS 137 . 3 (2025) . |
| APA | Fang, Zhou , Lin, Zuxiong , Huang, Yanwei . Adhesive nonlinearity analysis of longitudinal guided wave using circumference pasted piezoelectric array based nonlinear shear stress lag model . | JOURNAL OF APPLIED PHYSICS , 2025 , 137 (3) . |
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Conventional microgrids that employ droop control may experience challenges related to frequency and voltage offsets, which can pose risks to power system safety. Furthermore, the use of continuous communication in traditional control systems can result in technical and financial challenges. This paper introduces a fixed-time dynamic event-triggered secondary control for islanded microgrids, designed to achieve frequency restoration, voltage regulation and active power sharing within a specified timeframe. This distributed control approach relies solely on information from each distributed generator(DG) and its neighbours. Each DG receives communication from its neighbours and concurrently broadcasts its own information only when certain deviation were reached, thereby minimising communication costs. Several simulated instances illustrate the usefulness and robustness of this control method, including scenarios involving load changes, time delay and topology switching.
Keyword ：
Distributed control Distributed control event-triggered control event-triggered control fixed-time control fixed-time control islanded microgrid islanded microgrid multi-agent system multi-agent system secondary control secondary control
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| GB/T 7714 | Huang, Wenchao , Tu, Yuhan , Chen, Shaobin et al. Dynamic event-triggered fixed-time secondary control of islanded microgrids [J]. | INTERNATIONAL JOURNAL OF CONTROL , 2025 . |
| MLA | Huang, Wenchao et al. "Dynamic event-triggered fixed-time secondary control of islanded microgrids" . | INTERNATIONAL JOURNAL OF CONTROL (2025) . |
| APA | Huang, Wenchao , Tu, Yuhan , Chen, Shaobin , Huang, Yanwei . Dynamic event-triggered fixed-time secondary control of islanded microgrids . | INTERNATIONAL JOURNAL OF CONTROL , 2025 . |
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This work reports a terrain perception and stiffness adaptive control scheme with no vision. This strategy can enable quadruped robots to operate in a stable posture in unstructured geographic environments. We design a terrain perception controller using Kalman filtering observation technology to accurately estimate the robot's speed, position, and attitude variables. The compensation effect of estimations can provide real-time prediction of the external conditions, suppressing the body's high-frequency jitter in fluctuating terrain and improving anti-interference ability. Yet, a stiffness adaptive controller using impedance theory decreases the actuator's torque deviation and improves the robot's dynamic stability by solving the optimal stiffness change law. The Lyapunov approach proves the stability of the system. In comparative simulations, the proposed method is evaluated against the MIT strategy. Results show that while the MIT method exhibits rapid convergence and effectively reduces initial Euler angle fluctuations, it also introduces increased oscillations during the transient phase. Simulation results and hardware experiments illustrate that the proposed method effectively enhances the robot's terrain adaptability and motion smoothness.
Keyword ：
Adaptation models Adaptation models Attitude control Attitude control Impedance Impedance Kalman filter observer Kalman filter observer Kalman filters Kalman filters Legged locomotion Legged locomotion Quadrupedal robots Quadrupedal robots quadruped robot quadruped robot Quaternions Quaternions Robots Robots Stability criteria Stability criteria stiffness adaptive stiffness adaptive terrain perception terrain perception Torque Torque
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| GB/T 7714 | Huang, Yanwei , Li, Yijun , Liu, Guanghong et al. Terrain Perception and Stiffness Adaptation-Based Attitude Control for Quadruped Robots [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2025 . |
| MLA | Huang, Yanwei et al. "Terrain Perception and Stiffness Adaptation-Based Attitude Control for Quadruped Robots" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS (2025) . |
| APA | Huang, Yanwei , Li, Yijun , Liu, Guanghong , Li, Dongfang , Rob, Law , Zhu, Limin et al. Terrain Perception and Stiffness Adaptation-Based Attitude Control for Quadruped Robots . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2025 . |
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Aiming at the nonlinear characteristics of unmanned surface vehicle (USV) yaw caused by the impact of water flow, a nonlinear parameter-varying (NPV) USV model is established based on yaw motion, and the NPV H∞ robust heading control method is proposed to improve the rapidity and robustness of heading regulation. Firstly, a nonlinear Fossen model is established based on the hydrodynamic damping by the low aspect-ratio wing theory, which can better describe the characteristics of ship hull impacted by the flow. The dynamics model is simplified into a maneuvering model by ignoring the roll velocity and cross-flow drag, then an NPV heading model is established by introducing the heading. Secondly, a Lyapunov function related to the state of the heading control system and parameter-varying of the surge velocity is constructed to derive the solving conditions of the nonlinear controller, which satisfies the H∞robust stability of the heading closed-loop control system. This condition is a nonlinear matrix inequality (NLMI). Moreover, since the NLMI is difficult to solve, the nonlinear matrix in the NLMI is replaced with the polynomial matrix based on the sums of squares (SOS) theory to transform into polynomial linear matrix inequalities, which can be solved by SOSTOOLS. Finally, the results of the simulation indicate that the NPV H∞ controller has fast system response and higher accuracy for heading regulation. © 2024 Northeast University. All rights reserved.
Keyword ：
Aspect ratio Aspect ratio Closed loop control systems Closed loop control systems Controllers Controllers Damping Damping Hulls (ship) Hulls (ship) Hydrodynamics Hydrodynamics Linear matrix inequalities Linear matrix inequalities Lyapunov functions Lyapunov functions Maneuverability Maneuverability Robust control Robust control Unmanned surface vehicles Unmanned surface vehicles
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| GB/T 7714 | Huang, Yan-Wei , Huang, Peng . H∞ robust heading control for nonlinear parameter-varying unmanned surface vehicle [J]. | Control and Decision , 2024 , 39 (5) : 1507-1516 . |
| MLA | Huang, Yan-Wei et al. "H∞ robust heading control for nonlinear parameter-varying unmanned surface vehicle" . | Control and Decision 39 . 5 (2024) : 1507-1516 . |
| APA | Huang, Yan-Wei , Huang, Peng . H∞ robust heading control for nonlinear parameter-varying unmanned surface vehicle . | Control and Decision , 2024 , 39 (5) , 1507-1516 . |
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A collaborative control technology based on multi-agent is proposed for busbar lifting. Firstly, the three-stage gearbox and VVVF of asynchronous motors are analyzed to establish the dynamic model of the winch. Secondly, A spatial posture model for the busbar has been established. Thirdly, each winch and the central control tablet computer are regarded as a follower and a virtual leader of multi-agent system, respectively. LQR-DCCC and LQR-ESO was designed. Finally, the stability conditions of the multi-agent system were analyzed. Simulation and experiment results indicate that the proposed technology enables eight winches to track the prescribed motion state for the horizontal lifting of the busbar. © 2024 Technical Committee on Control Theory, Chinese Association of Automation.
Keyword ：
Busbars Busbars Control theory Control theory Electric substations Electric substations Winches Winches
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| GB/T 7714 | Wen, Hao , Huang, Yanwei . Cooperative Control Technology for Busbar Lifting Based on Mutli-Agent [C] . 2024 : 5937-5942 . |
| MLA | Wen, Hao et al. "Cooperative Control Technology for Busbar Lifting Based on Mutli-Agent" . (2024) : 5937-5942 . |
| APA | Wen, Hao , Huang, Yanwei . Cooperative Control Technology for Busbar Lifting Based on Mutli-Agent . (2024) : 5937-5942 . |
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针对航速和航道未知扰动等因素,提出一种速度矢量场二阶滑模无人水面艇(USV)引导律.首先,建立无人艇运动学和航向角动力学模型;其次构造路径误差(ye)模型,设计基于航速(Vg)的路径误差矢量场,速度越大,航向角变化越小;再结合二阶滑模面设计一种速度矢量场二阶滑模无人艇引导律,并考虑未知扰动因素△分析速度矢量场二阶滑模无人艇引导律的稳定性.仿真结果表明:相比于经典矢量场,速度矢量场有效实现航速Vg越快,航向角变化率越小,矢量场越平缓,提高了 USV航行安全性和稳定性;基于速度矢量场二阶滑模无人艇引导律的路径跟踪控制系统鲁棒性更强,路径跟踪准确度更高,能够较好地完成路径跟踪.
Keyword ：
无人水面艇 无人水面艇 滑模控制 滑模控制 矢量场引导律 矢量场引导律 路径跟踪 路径跟踪
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| GB/T 7714 | 温锦元 , 黄宴委 . 速度矢量场二阶滑模无人艇引导律 [J]. | 华侨大学学报（自然科学版） , 2024 , 45 (3) : 324-331 . |
| MLA | 温锦元 et al. "速度矢量场二阶滑模无人艇引导律" . | 华侨大学学报（自然科学版） 45 . 3 (2024) : 324-331 . |
| APA | 温锦元 , 黄宴委 . 速度矢量场二阶滑模无人艇引导律 . | 华侨大学学报（自然科学版） , 2024 , 45 (3) , 324-331 . |
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针对水流冲击引起无人船(unmanned surface vehicle,USV)转艏呈现非线性特点,建立基于转艏运动的非线性变参数(nonlinear parameter-varying,NPV)USV模型,并提出一种NPV H∞艏向控制方法,以提高艏向调节的快速性和鲁棒性.首先,考虑低展弦比机翼理论能较好地描述船体受水流冲击的特点,建立基于水动力阻尼的非线性Fossen模型.通过忽略横荡速度和横流阻力将动力学模型简化为操纵动力学模型,并引入艏向角,建立NPV 艏向模型.其次,构造与艏向控制系统状态和纵荡速度变参相关的Lyapunov函数,推导出满足艏向闭环控制系统H∞鲁棒稳定的非线性控制器求解条件,该条件是一个非线性矩阵不等式(nonlinear matrix inequality,NLMI).由于NLMI难以求解,根据平方和(sums of squares,SOS)理论,用多项式矩阵代替NLMI中的非线性矩阵,并将NLMI转化为可使用SOS工具求解的多项式线性矩阵不等式.仿真结果表明,NPV H∞控制器在艏向调节时具有较快的系统响应和更高的准确性.
Keyword ：
H∞鲁棒控制 H∞鲁棒控制 平方和 平方和 无人船 无人船 水动力阻尼 水动力阻尼 艏向控制 艏向控制 非线性变参数 非线性变参数
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| GB/T 7714 | 黄宴委 , 黄鹏 . 非线性变参数无人船艏向H∞鲁棒控制 [J]. | 控制与决策 , 2024 , 39 (5) : 1507-1516 . |
| MLA | 黄宴委 et al. "非线性变参数无人船艏向H∞鲁棒控制" . | 控制与决策 39 . 5 (2024) : 1507-1516 . |
| APA | 黄宴委 , 黄鹏 . 非线性变参数无人船艏向H∞鲁棒控制 . | 控制与决策 , 2024 , 39 (5) , 1507-1516 . |
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