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学者姓名：李东方
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Abstract ：
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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This paper proposes a leader-follower control method for multiple snake robot formation. Based on the simplified snake robot model, this work improves the traditional Serpenoid gait mode to a time-varying frequency form. Combined with the line-of-sight (LOS) method, a snake robot trajectory tracking controller is designed to enable the leader to track the desired trajectory at the ideal velocity. Then, the leader-follower following error system of a snake robot formation is established. In this framework, the follower can maintain a preset geometric position relationship with the leader to ensure the fast convergence of the formation location. Lyapunov's theory proves the stability of a snake robot formation error. Simulation and experimental results show that this strategy has the advantages of faster convergence speed and higher tracking accuracy than other current methods.
Keyword ：
Formation control Formation control Leader-follower Leader-follower Snake robot Snake robot Trajectory tracking Trajectory tracking
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| GB/T 7714 | Wang, Wu , Du, Zhihang , Li, Dongfang et al. Leader-follower method-based formation control for snake robots [J]. | ISA TRANSACTIONS , 2025 , 156 : 609-619 . |
| MLA | Wang, Wu et al. "Leader-follower method-based formation control for snake robots" . | ISA TRANSACTIONS 156 (2025) : 609-619 . |
| APA | Wang, Wu , Du, Zhihang , Li, Dongfang , Huang, Jie . Leader-follower method-based formation control for snake robots . | ISA TRANSACTIONS , 2025 , 156 , 609-619 . |
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This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system's control input and improve the robots' tracking accuracy. Moreover, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots' run jitter. Then, Lyapunov's theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.
Keyword ：
Adaptive integral surge line-of-sight Adaptive integral surge line-of-sight approximation approximation robotic fish robotic fish speed observer speed observer
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| GB/T 7714 | Li, Dongfang , Huang, Jie , Law, Rob et al. Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes [J]. | IEEE-CAA JOURNAL OF AUTOMATICA SINICA , 2025 , 12 (1) : 126-137 . |
| MLA | Li, Dongfang et al. "Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes" . | IEEE-CAA JOURNAL OF AUTOMATICA SINICA 12 . 1 (2025) : 126-137 . |
| APA | Li, Dongfang , Huang, Jie , Law, Rob , Xu, Xin , Zhu, Limin , Wu, Edmond Q. . Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes . | IEEE-CAA JOURNAL OF AUTOMATICA SINICA , 2025 , 12 (1) , 126-137 . |
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The control of shipborne wave compensation Stewart-Gough platform (SGP) is affected by a variety of interferences. This study proposes a composite control scheme based on inverse dynamics control (IDC) to suppress multiple disturbances experienced by the shipborne SGP. A comprehensive system dynamic model is established. Primary potential disturbances are classified, and the corresponding suppression strategies are proposed. A robust term is added to the normal IDC to overcome the model parameter uncertainty, meeting the desired performance with internal parameter uncertainty. An equivalent input disturbance (EID) approach is introduced to resist the unknown external disturbances based on the robust feedback control. A Kalman filter is integrated to construct the Optimal EID to suppress the destructive effect of sensor noise on disturbance estimation, improving the accuracy of external disturbance estimation. The stability of the closed-loop controller is analyzed. Experimental results demonstrate that the proposed scheme exhibits superior resilience to internal and external disturbances compared with several conventional approaches.
Keyword ：
Inverse dynamics control (IDC) Inverse dynamics control (IDC) noninertial frame noninertial frame optimal estimation optimal estimation parallel mechanism parallel mechanism wave compensation wave compensation
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| GB/T 7714 | Chen, Weixing , Lin, Chaoxiong , Zhou, Songlin et al. Dynamic Modeling and Robust Inverse Dynamics Control Enhanced by Optimal Equivalent Input Disturbance for a Shipborne Wave Compensation Hexapod Platform [J]. | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2025 . |
| MLA | Chen, Weixing et al. "Dynamic Modeling and Robust Inverse Dynamics Control Enhanced by Optimal Equivalent Input Disturbance for a Shipborne Wave Compensation Hexapod Platform" . | IEEE-ASME TRANSACTIONS ON MECHATRONICS (2025) . |
| APA | Chen, Weixing , Lin, Chaoxiong , Zhou, Songlin , Zhao, Xianchao , Li, Dongfang , Wu, Edmond Q. et al. Dynamic Modeling and Robust Inverse Dynamics Control Enhanced by Optimal Equivalent Input Disturbance for a Shipborne Wave Compensation Hexapod Platform . | IEEE-ASME TRANSACTIONS ON MECHATRONICS , 2025 . |
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小样本语义分割旨在通过少量标注样本实现新类别的精准分割,但现有方法因特征压缩导致的空间信息丢失、跨尺度对齐偏差及背景干扰等问题限制了其性能.为此,提出了一种基于多层多尺度查询-支持点积注意力的小样本语义分割框架.首先,支持图像和查询图像通过多尺度特征提取模块,从主干网络中提取多尺度特征.接着,利用Transformer的缩放点积注意力机制,充分挖掘支持图像中前景与背景像素的信息.最后,通过跳跃连接将多尺度特征与中间掩码进行融合,逐步细化分割边界.该模型在PASCAL-5i数据集上进行了实验,在1-shot设定下取得了62.1%的平均交并比和73.6%的前景-背景交并比,验证了方法的有效性.
Keyword ：
PASCAL-5i数据集 PASCAL-5i数据集 Transformer架构 Transformer架构 多层多尺度特征融合 多层多尺度特征融合 小样本 小样本 缩放点积注意力 缩放点积注意力 语义分割 语义分割
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| GB/T 7714 | 苏棋 , 吴宏亮 , 黄思恺 et al. 多尺度查询-支持注意力的小样本语义分割 [J]. | 无人系统技术 , 2025 , 8 (2) : 91-99 . |
| MLA | 苏棋 et al. "多尺度查询-支持注意力的小样本语义分割" . | 无人系统技术 8 . 2 (2025) : 91-99 . |
| APA | 苏棋 , 吴宏亮 , 黄思恺 , 李洋 , 李东方 . 多尺度查询-支持注意力的小样本语义分割 . | 无人系统技术 , 2025 , 8 (2) , 91-99 . |
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Abstract ：
To address the issue of low tracking efficiency of robot fish under disturbance, this study proposes an anti-disturbance and adaptive error constraint control scheme. Firstly, by designing a virtual control input and updating the adaptive line-of-sight guidance law using integral link, the motion position deviation caused by side slip is eliminated and the robot′s anti-interference ability is enhanced. Secondly, by constructing an adaptive controller for yaw and surge of the robot fish, the neural network function fits uncertainties and flow disturbances in the model, compensating for system control input with an approximation value. This improves the body′s adaptability to environmental conditions. Finally, utilizing obstacle Lyapunov theory, consistent final boundedness of robot fish tracking position and angle is proven. Through simulation and experiment, compared with the classical guidance scheme, the proposed scheme improves the tracking efficiency and steady-state performance of the robot fish, and the position error convergence rate of the robot fish is increased by 14.57% on average. © 2024 Science Press. All rights reserved.
Keyword ：
Adaptive control systems Adaptive control systems Efficiency Efficiency Errors Errors Fish Fish Robots Robots
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| GB/T 7714 | Li, Dongfang , Zhang, Binxin , Zeng, Linlin et al. Disturbance-resistant path-tracking control method for robotic fish with tracking error constraints [J]. | Chinese Journal of Scientific Instrument , 2024 , 45 (4) : 282-293 . |
| MLA | Li, Dongfang et al. "Disturbance-resistant path-tracking control method for robotic fish with tracking error constraints" . | Chinese Journal of Scientific Instrument 45 . 4 (2024) : 282-293 . |
| APA | Li, Dongfang , Zhang, Binxin , Zeng, Linlin , Huang, Jie , Song, Aigou . Disturbance-resistant path-tracking control method for robotic fish with tracking error constraints . | Chinese Journal of Scientific Instrument , 2024 , 45 (4) , 282-293 . |
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Snake robots under environments with avoidance constraints hardly track routes such that traditional guidance approaches become infeasible. Motivated by it, this work presents a line-of-sight-guidance virtual-snake-robot integrated scheme for snake robots to track paths and obey collision avoidance regulations. Main contributions include the avoidance regulation-compliant kinematics guidance law and finite-time-converged adaptive dynamic controller. In kinematics, a virtual leader is used to optimize nondifferentiable inflection into smooth to provide a jitter-free direction. Considering avoidance constraints, corresponding guidance strategies are innovatively designed for head-on, overtaking, and crossing scenarios to ensure the safety and autonomy of path tracking. In terms of dynamics, maneuvering control is executed by a finite-time disturbance observer-based event-triggered terminal sliding-mode controller. The unmeasured errors and uncertainties are accurately compensated, and input event-triggering rules can reduce the actuator burden. Finally, the stability analysis proves system errors' finite-time convergence, and result validations confirm the performance superiority and feasibility of this method.
Keyword ：
Collision avoidance Collision avoidance guidance algorithm guidance algorithm Marine vehicles Marine vehicles path following path following Regulation Regulation Robots Robots snake robot snake robot Snake robots Snake robots Turning Turning Vehicle dynamics Vehicle dynamics
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| GB/T 7714 | Xiu, Yang , Deng, Hongbin , Li, Dongfang et al. Collision Avoidance Regulation-Compliant Orientation Guidance and Maneuvering Control Approach for Snake Robots [J]. | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2024 , 71 (9) : 10955-10965 . |
| MLA | Xiu, Yang et al. "Collision Avoidance Regulation-Compliant Orientation Guidance and Maneuvering Control Approach for Snake Robots" . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 71 . 9 (2024) : 10955-10965 . |
| APA | Xiu, Yang , Deng, Hongbin , Li, Dongfang , Law, Rob , Wu, Edmond Q. , Zhu, Limin . Collision Avoidance Regulation-Compliant Orientation Guidance and Maneuvering Control Approach for Snake Robots . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2024 , 71 (9) , 10955-10965 . |
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This article reports a novel path-following method based on error constraints to fulfill formation control with the anti-disturbance for multisnake robots. A synchronized line-of-sight guidance rule and a high-coupled dynamic frequency compensator are designed to revise the movement speed of each robot, ensuring position consistency among formation members. The equivalent principle of the barrier function restricts the state errors within a set range, eliminating the singularity of virtual variables and enhancing the steady-state performance of path following. Moreover, this article predicts the model uncertainty and external disturbances to precompensate for the joint offset and torque input of the robot. The method further improves the convergence rates and robustness of the following errors. Barrier Lyapunov theory proves the uniform ultimate boundedness of the proposed method. Simulation and experimental data indicate that the control strategy reduces oscillations of errors before convergence and achieves fast and smooth formation following effect.
Keyword ：
Antidisturbance Antidisturbance error constraint error constraint formation control formation control multisnake robots multisnake robots synchronized line-of-sight (SLOS) synchronized line-of-sight (SLOS)
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| GB/T 7714 | Li, Dongfang , Zhang, Binxin , Law, Rob et al. Error Constrained-Formation Path-Following Method With Disturbance Elimination for Multisnake Robots [J]. | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2024 , 71 (5) : 4987-4998 . |
| MLA | Li, Dongfang et al. "Error Constrained-Formation Path-Following Method With Disturbance Elimination for Multisnake Robots" . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 71 . 5 (2024) : 4987-4998 . |
| APA | Li, Dongfang , Zhang, Binxin , Law, Rob , Wu, Edmond Q. , Xu, Xin . Error Constrained-Formation Path-Following Method With Disturbance Elimination for Multisnake Robots . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2024 , 71 (5) , 4987-4998 . |
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The multi-joint snake robot is poised to become a crucial asset for investigation, surveillance, and attack in national defense and military applications. This paper addresses the trajectory tracking challenge of a multi-joint snake robot characterized by high redundancy and multiple degrees of freedom in the plane. We propose an adaptive trajectory tracking controller that accounts for non-holonomic constraints. This controller estimates unknown environmental parameters, effectively mitigating the negative impacts of uncertain and time-varying conditions during robot movement, thereby ensuring stability. A suitable Lyapunov function is identified to confirm the controller's stability. The trajectory tracking performance of the robot is thoroughly analyzed through simulations and experiments, demonstrating the effectiveness of the proposed adaptive controller.
Keyword ：
adaptive control adaptive control estimation estimation Multi-joint snake robot Multi-joint snake robot trajectory tracking trajectory tracking
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| GB/T 7714 | Hao, Shuang , Chen, Jiyao , He, Yupeng et al. Non-holonomic constraints-based adaptive trajectory tracking controller for a multi-joint snake robot [J]. | ADVANCES IN MECHANICAL ENGINEERING , 2024 , 16 (12) . |
| MLA | Hao, Shuang et al. "Non-holonomic constraints-based adaptive trajectory tracking controller for a multi-joint snake robot" . | ADVANCES IN MECHANICAL ENGINEERING 16 . 12 (2024) . |
| APA | Hao, Shuang , Chen, Jiyao , He, Yupeng , Wang, Zheng , Li, Dongfang . Non-holonomic constraints-based adaptive trajectory tracking controller for a multi-joint snake robot . | ADVANCES IN MECHANICAL ENGINEERING , 2024 , 16 (12) . |
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This work presents a butterfly spiral propulsion mode of snake robots to realize the tracking control on the objective trajectory in multiple scenarios. This method investigates the force mechanism of each body element in the yaw and pitch directions. The butterfly spiral gait mechanic and friction models are constructed to offset the lateral torque force caused by joint rotation. In addition, this work combines an integral part of improving the line of sight guidance scheme, which eliminates the robot's sideslip when tracking the curve track and enhances the body's adaptability to different scenarios. Lyapunov's theory proves the stability of the designed guidance strategy. Simulation and experimental results illustrate that the designed butterfly spiral gait and guidance scheme can provide the snake robot faster tracking results and more stable error performance than the cylindrical and conical spiral gait.
Keyword ：
Butterfly spiral gait Butterfly spiral gait Friction Friction integral line of sight (LOS) integral line of sight (LOS) Propulsion Propulsion Robots Robots snake robot snake robot Snake robots Snake robots Spirals Spirals Torque Torque Tracking Tracking tracking control tracking control
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| GB/T 7714 | Li, Dongfang , Zhang, Binxin , Wu, Chushuo et al. Tracking Control of Snake Robots With Butterfly Spiral Propulsion for Multiscenario Applications [J]. | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS , 2024 , 20 (12) : 13526-13536 . |
| MLA | Li, Dongfang et al. "Tracking Control of Snake Robots With Butterfly Spiral Propulsion for Multiscenario Applications" . | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 20 . 12 (2024) : 13526-13536 . |
| APA | Li, Dongfang , Zhang, Binxin , Wu, Chushuo , Xu, Yuanqing , Huang, Jie , Wu, Edmond Q. et al. Tracking Control of Snake Robots With Butterfly Spiral Propulsion for Multiscenario Applications . | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS , 2024 , 20 (12) , 13526-13536 . |
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