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学者姓名：李东方
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Abstract ：
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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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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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 radial artery pulse signal contains rich information about human health status and diseases. Currently, most acquisition systems take the form of fixed acquisition positions that cannot automatically locate and collect the pulse and require manual assistance. However, due to variations in human wrist anatomy, these systems face challenges in ensuring consistent and repeatable positioning for each pulse collection, which may affect the quality of pulse signals. To overcome these limitations, this paper develops an automatic pulse signal acquisition system based on a combined visual and tactile pulse-finding algorithm. It can identify the strongest pulse position through a lightweight pulse localization network (LPLN) and automatically acquire pulse signals. Additionally, the system can further refine the identification of the strongest pulse position through a tactile pulse-finding method based on time domain and frequency domain characteristics. The adjusted position can serve as training data for LPLN self-learning. The experimental results show that the average error of LPLN visual and tactile pulse-finding algorithm localization is 4.07 mm and 1.36 mm, respectively. The proposed prototype may serve as a valuable tool for intelligent pulse signal acquisition, guaranteeing accurate location and signal quality. IEEE
Keyword ：
Arteries Arteries Automatic acquisition Automatic acquisition interest point detection interest point detection Location awareness Location awareness Manuals Manuals Pressure sensors Pressure sensors pulse-finding algorithm pulse-finding algorithm pulse signal pulse signal Sensor arrays Sensor arrays Sensors Sensors Wrist Wrist
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| GB/T 7714 | Chen, P. , Li, X. , Guo, W. et al. An Automatic Radial Pulse Signal Acquisition System Based on Visual and Tactile Pulse-Finding Algorithm [J]. | IEEE Sensors Journal , 2024 , 24 (18) : 1-1 . |
| MLA | Chen, P. et al. "An Automatic Radial Pulse Signal Acquisition System Based on Visual and Tactile Pulse-Finding Algorithm" . | IEEE Sensors Journal 24 . 18 (2024) : 1-1 . |
| APA | Chen, P. , Li, X. , Guo, W. , Chen, J. , Li, D. , Han, F. et al. An Automatic Radial Pulse Signal Acquisition System Based on Visual and Tactile Pulse-Finding Algorithm . | IEEE Sensors Journal , 2024 , 24 (18) , 1-1 . |
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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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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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This work reports a path-tracking control method based on tracking error constraints and integral guidance mechanisms with anti-interference for a robotic fish. A virtual control input is presented, and the adaptive integral light-of-sight rule is developed to eliminate the deviation of the sideslip position and improve the anti-interference ability of the robot. The raw and large adaptive controllers of a robotic fish are constructed to fit the model uncertainty and flow field disturbance brought by neural network functions. The approximation values compensate for the system's control input to improve the environmental adaptability of the body. Moreover, this work employs event-triggering mechanisms to reduce the trigger frequency of the actuator and improve tracking speed. Barrier Lyapunov theory confirms that the proposed strategy has uniform ultimate boundedness. Simulation and experimental results indicate that the scheme improves the error convergence rate and steady-state characteristics of the robotic fish.
Keyword ：
Adaptation models Adaptation models Antidisturbance Antidisturbance error constraint error constraint Force Force integration adaptive LOS integration adaptive LOS Neural networks Neural networks robotic fish robotic fish Robot kinematics Robot kinematics Robots Robots Robustness Robustness Uncertainty Uncertainty
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| GB/T 7714 | Li, Dongfang , Zeng, Linlin , Wu, Edmond Q. et al. Tracking Error Constraints and Integral Guidance Mechanisms-Based Antidisturbance Path-Tracking Control for a Robotic Fish [J]. | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2024 , 72 (4) : 3948-3959 . |
| MLA | Li, Dongfang et al. "Tracking Error Constraints and Integral Guidance Mechanisms-Based Antidisturbance Path-Tracking Control for a Robotic Fish" . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 72 . 4 (2024) : 3948-3959 . |
| APA | Li, Dongfang , Zeng, Linlin , Wu, Edmond Q. , Zhu, Limin , Song, Aiguo . Tracking Error Constraints and Integral Guidance Mechanisms-Based Antidisturbance Path-Tracking Control for a Robotic Fish . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2024 , 72 (4) , 3948-3959 . |
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Abstract ：
针对四足机器人在非结构化地形中难以稳定运动的问题,提出一种不依赖视觉的地形感知和刚度自适应控制方案.首先,采用卡尔曼滤波技术设计机器人状态观测器,对本体状态进行估计.然后,利用估计的本体状态设计一种地形感知控制器,以抑制机体在起伏环境中的高频抖动,从而提高抗干扰能力.而后结合阻抗理论设计刚度自适应控制器,并求解最优刚度变化律,提高姿态误差的收敛速度,增强机器人的动态稳定性.此外,引用李雅普诺夫理论分析系统稳定性.最后,仿真结果与实物样机实验结果表明,本文提出的方法显著增强了机器人的地形适应性和运动平滑性.
Keyword ：
刚度自适应控制 刚度自适应控制 四足机器人 四足机器人 地形感知 地形感知
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| GB/T 7714 | 黄宴委 , 李奕鋆 , 李东方 . 基于地形和刚度自适应的四足机器人姿态控制 [J]. | 机器人 , 2024 , 46 (6) : 713-724,731 . |
| MLA | 黄宴委 et al. "基于地形和刚度自适应的四足机器人姿态控制" . | 机器人 46 . 6 (2024) : 713-724,731 . |
| APA | 黄宴委 , 李奕鋆 , 李东方 . 基于地形和刚度自适应的四足机器人姿态控制 . | 机器人 , 2024 , 46 (6) , 713-724,731 . |
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Abstract ：
The radial artery pulse signal contains rich information about human health status and diseases. Currently, most acquisition systems take the form of fixed acquisition positions that cannot automatically locate and collect the pulse and require manual assistance. However, due to variations in human wrist anatomy, these systems face challenges in ensuring consistent and repeatable positioning for each pulse collection, which may affect the quality of pulse signals. To overcome these limitations, this article develops an automatic pulse signal acquisition system based on a combined visual and tactile pulse-finding algorithm. It can identify the strongest pulse position through a lightweight pulse localization network (LPLN) and automatically acquire pulse signals. In addition, the system can further refine the identification of the strongest pulse position through a tactile pulse-finding method based on time- and frequency-domain characteristics. The adjusted position can serve as training data for LPLN self-learning. The experimental results show that the average error of LPLN visual and tactile pulse-finding algorithm localization is 4.07 and 1.36 mm, respectively. The proposed prototype may serve as a valuable tool for intelligent pulse signal acquisition, guaranteeing accurate location and signal quality.
Keyword ：
Automatic acquisition Automatic acquisition interest point detection interest point detection pulse-finding algorithm pulse-finding algorithm pulse signal pulse signal
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| GB/T 7714 | Chen, Penghui , Li, Xinyi , Guo, Wei et al. An Automatic Radial Pulse Signal Acquisition System Based on Visual and Tactile Pulse-Finding Algorithm [J]. | IEEE SENSORS JOURNAL , 2024 , 24 (18) : 29271-29283 . |
| MLA | Chen, Penghui et al. "An Automatic Radial Pulse Signal Acquisition System Based on Visual and Tactile Pulse-Finding Algorithm" . | IEEE SENSORS JOURNAL 24 . 18 (2024) : 29271-29283 . |
| APA | Chen, Penghui , Li, Xinyi , Guo, Wei , Chen, Jiaxing , Li, Dongfang , Han, Feizi et al. An Automatic Radial Pulse Signal Acquisition System Based on Visual and Tactile Pulse-Finding Algorithm . | IEEE SENSORS JOURNAL , 2024 , 24 (18) , 29271-29283 . |
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为了解决机器鱼在扰动下跟踪效率低的问题,本工作提出了一种抗扰动和自适应的误差约束控制方案。首先,通过设计虚拟控制输入,并利用积分环节更新了自适应视线制导律,消除了侧滑导致的运动位置偏离,增强了机器人的抗干扰能力。其次,通过构造机器鱼的偏航和浪涌自适应控制器,使神经网络函数拟合模型的不确定项和水流扰动,并用逼近值补偿系统的控制输入。这提升了机体的环境适应性。最后,利用障碍Lyapunov理论,机器鱼跟踪位置和角度的一致最终有界性被证明。通过模拟和实验,与经典制导方案相比,所提方案提高了机器鱼的跟踪效率和稳态性能,使机器鱼的位置误差收敛速率平均提升了14.57%。
Keyword ：
抗扰动 抗扰动 机器鱼 机器鱼 自适应视线制导 自适应视线制导 误差约束 误差约束 路径跟踪 路径跟踪
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| GB/T 7714 | 李东方 , 张滨新 , 曾林林 et al. 基于跟踪误差约束的机器鱼抗扰动路径跟踪控制 [J]. | 仪器仪表学报 , 2024 , 45 (04) : 282-293 . |
| MLA | 李东方 et al. "基于跟踪误差约束的机器鱼抗扰动路径跟踪控制" . | 仪器仪表学报 45 . 04 (2024) : 282-293 . |
| APA | 李东方 , 张滨新 , 曾林林 , 黄捷 , 宋爱国 . 基于跟踪误差约束的机器鱼抗扰动路径跟踪控制 . | 仪器仪表学报 , 2024 , 45 (04) , 282-293 . |
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