Query：
学者姓名：黄捷
Refining：
Year
Type
Indexed by
Source
Complex
Former Name
Co-
Language
Clean All
Abstract ：
In the paper, the formation control problem in unknown environments for networked multi-unmanned aerial vehicle systems (UAVSs) is resolved under a nonlinear differential game (NL-DDG) framework. The main challenge of this framework is how to obtain feedback Nash strategies, which typically overly rely on global information and cannot ensure the existence of Nash strategies in unknown environments. Toward this goal, we initially design collision avoidance rules to ensure the safety of each UAV. Subsequently, we utilize an inverse optimal control method to construct the NL-DDG that incorporates both formation control and collision avoidance costs, enabling the derivation of analytical forms of Nash strategies relying solely on local information and minimizing performance metrics. In addition, the existence of feedback Nash strategy can be guaranteed with an undirected and connected information topology, which represents the optimality for the UAVSs. Moreover, we analyze the stability of the closed-loop system. Finally, the simulation results validate the effectiveness of the proposed scheme. © 2025 World Scientific Publishing Company.
Keyword ：
Aircraft accidents Aircraft accidents Closed loop control systems Closed loop control systems Collision avoidance Collision avoidance Feedback Feedback Inverse problems Inverse problems Networked control systems Networked control systems Optimal control systems Optimal control systems Unmanned aerial vehicles (UAV) Unmanned aerial vehicles (UAV)
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | Xue, Wenyan , Huang, Jie , Li, Zeyi et al. Formation Control with Feedback Nash Strategy for Multiple Unmanned Aerial Vehicles in Unknown Environments [J]. | Unmanned Systems , 2025 , 13 (4) : 1115-1122 . |
| MLA | Xue, Wenyan et al. "Formation Control with Feedback Nash Strategy for Multiple Unmanned Aerial Vehicles in Unknown Environments" . | Unmanned Systems 13 . 4 (2025) : 1115-1122 . |
| APA | Xue, Wenyan , Huang, Jie , Li, Zeyi , Xin, Bin . Formation Control with Feedback Nash Strategy for Multiple Unmanned Aerial Vehicles in Unknown Environments . | Unmanned Systems , 2025 , 13 (4) , 1115-1122 . |
| Export to | NoteExpress RIS BibTex |
Version ：
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
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
This paper proposes an efficient fast-optimal balanced differential game (DG) approach to address the formation control problem in dynamic environments for networked multi-agent systems (MASs). Compared to existing receding horizon distributed differential game (RH-DDG) approaches, the proposed approach employs a two-layer game structure to balance optimality and real-time performance, with a focus on formation control, collision avoidance and obstacle avoidance. In the offline layer, the problem is converted into a distributed differential game (DDG) where each agent computes strategies using distributed information from locally neighboring agents. The strategy of each agent self-enforces a unique global Nash equilibrium (G-NE) with a strongly connected communication topology, providing an optimal reference trajectory for the online game. In the online layer, a receding horizon differential game with an event-trigger mechanism (RH-DGET) is presented to track the G-NE trajectory. Ego players are triggered to update online Nash strategies only when the event-triggering condition is satisfied, ensuring the real-time safety certificate. Rigorous proofs demonstrate that the online Nash strategies converge to the offline G-NE until the trigger ends, and a certain dwell time condition is given to prevent the Zeno behavior. Simulation results validate the effectiveness of the proposed approach. © 2025 World Scientific Publishing Company.
Keyword ：
Computation theory Computation theory Game theory Game theory Multi agent systems Multi agent systems Networked control systems Networked control systems
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | Xue, Wenyan , Huang, Jie , Chen, Nan et al. Distributed Formation Control of Multi-Agent Systems: A Novel Fast-Optimal Balanced Differential Game Approach [J]. | Unmanned Systems , 2025 , 13 (1) : 211-231 . |
| MLA | Xue, Wenyan et al. "Distributed Formation Control of Multi-Agent Systems: A Novel Fast-Optimal Balanced Differential Game Approach" . | Unmanned Systems 13 . 1 (2025) : 211-231 . |
| APA | Xue, Wenyan , Huang, Jie , Chen, Nan , Chen, Yutao , Lin, Dingci . Distributed Formation Control of Multi-Agent Systems: A Novel Fast-Optimal Balanced Differential Game Approach . | Unmanned Systems , 2025 , 13 (1) , 211-231 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
An intelligent policy iteration tracking control method is proposed for the tracking control problem with bounded time-varying disturbances. An adaptive disturbance compensator is designed to counteract the bounded disturbance and guarantee the validity of the Hamilton-Jacobi-Bellman (HJB) equation. An identifier network is proposed to estimate the unknown vehicle dynamics, and a new HJB equation is derived using the reconstructed identifier tracking error. An online optimal tracking control strategy for unmanned vehicles is obtained in the state of identifier estimation with the assistance of actor-critic network. Based on Lyapunov theory, it is demonstrated that the identifier tracking error, identifier approximation error and neural network weight errors are all semi-globally uniformly ultimately bounded, and the unmanned vehicle can achieve ideal tracking performance. Simulation results indicate that with a disturbance upper-bounded by 10.331 1 N, the tracking error converges to at least 0.054 8 m which exhibits better anti-interference performance. Compared with sliding mode control, tracking accuracy is improved by 40% and control cost is reduced by 22%. © 2025 Acta Simulata Systematica Sinica. All rights reserved.
Keyword ：
Magnetic levitation vehicles Magnetic levitation vehicles Optimal control systems Optimal control systems State estimation State estimation Time varying control systems Time varying control systems
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | Huang, Jie . An Intelligent Tracking Control Method for Unmanned Vehicles with Time-varying Disturbances [J]. | Journal of System Simulation , 2025 , 37 (4) : 1063-1075 . |
| MLA | Huang, Jie . "An Intelligent Tracking Control Method for Unmanned Vehicles with Time-varying Disturbances" . | Journal of System Simulation 37 . 4 (2025) : 1063-1075 . |
| APA | Huang, Jie . An Intelligent Tracking Control Method for Unmanned Vehicles with Time-varying Disturbances . | Journal of System Simulation , 2025 , 37 (4) , 1063-1075 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
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
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
针对具有有界时变干扰的无人车辆跟踪控制问题,提出了一种策略迭代智能跟踪控制方法.通过设计自适应干扰消解器对外界干扰进行补偿,确保了哈密顿-雅克比-贝尔曼(Hamilton-Jacobi-Bellman,HJB)方程的有效性;通过设计标识符网络对未知车辆动力学进行估计,并利用重构的标识符跟踪误差推导出全新的HJB方程;借助演员-评论家网络,在线获得标识符估计状态下的无人车辆最优跟踪控制策略.基于李雅普诺夫理论,证明了标识符跟踪误差、标识符近似误差、神经网络权值误差均为半全局最终一致有界,无人车辆可以达到理想的跟踪性能.仿真结果表明:在上界为10.331 1 N的外界干扰影响下,该方法的跟踪误差至少收敛到了 0.054 8 m,具有良好的抗干扰性能,与滑模控制方法相比,跟踪精度提高了 40％,控制代价减少了 22％.
Keyword ：
无人车辆 无人车辆 时变扰动 时变扰动 标识符网络 标识符网络 策略学习 策略学习 跟踪控制 跟踪控制
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | 黄捷 . 一种时变扰动下的无人车辆智能跟踪控制方法 [J]. | 系统仿真学报 , 2025 , 37 (4) : 1063-1075 . |
| MLA | 黄捷 . "一种时变扰动下的无人车辆智能跟踪控制方法" . | 系统仿真学报 37 . 4 (2025) : 1063-1075 . |
| APA | 黄捷 . 一种时变扰动下的无人车辆智能跟踪控制方法 . | 系统仿真学报 , 2025 , 37 (4) , 1063-1075 . |
| Export to | NoteExpress RIS BibTex |
Version ：
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
Cite：
Copy from the list or Export to your reference management。
| 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 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
A reputation management system with identity authentication and task supervisor (RMS-IATS) for swarm robotics via blockchain technology is proposed to identify Byzantine robots within the swarm robotics and avoid the security threat caused by Byzantine robots to swarm robotics. Firstly, a classical blockchain-based swarm robotics reputation management system (RMS) is improved by introducing penalty factors, and a severer reputation value penalty is imposed on the robotics with long-term Byzantine behavior. Secondly, to speed up the identification of Byzantine robots within swarm robotics, an identity authentication protocol is devised, and thus lower initial reputation scores are assigned to the robots with unauthorized identities. Next, a dual-layer communication network for communication between robots is designed to solve the communication latency issue caused by blockchain in the swarm robotics system. Finally, the feasibility of the proposed blockchain-based RMS-IATS and dual-layer communication network is proved through simulations. The identification time for different types of Byzantine robots is shortened by RMS-IATS compared with the classical RMS for swarm robotics, and the maximum communication latency of the system is reduced by the proposed dual-layer communication network compared with the blockchain. © 2024 Science Press. All rights reserved.
Keyword ：
Authentication Authentication Blockchain Blockchain Network layers Network layers Robots Robots Supervisory personnel Supervisory personnel Swarm intelligence Swarm intelligence
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | Huang, Jie , Zeng, Jiazhou . Byzantine Robot Recognition Scheme via Blockchain-Based Reputation Management [J]. | Pattern Recognition and Artificial Intelligence , 2024 , 37 (3) : 267-281 . |
| MLA | Huang, Jie et al. "Byzantine Robot Recognition Scheme via Blockchain-Based Reputation Management" . | Pattern Recognition and Artificial Intelligence 37 . 3 (2024) : 267-281 . |
| APA | Huang, Jie , Zeng, Jiazhou . Byzantine Robot Recognition Scheme via Blockchain-Based Reputation Management . | Pattern Recognition and Artificial Intelligence , 2024 , 37 (3) , 267-281 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
To address the challenges of significant changes in the field of view and complex spatiotemporal information in unmanned aerial vehicle aerial image target detection, a model for small object detection in aerial photography based on low dimensional image feature fusion is presented grounded on the YOLOv5(you only look once version 5) architecture. Coordinate attention is introduced to improve the inverted residuals of MobileNetV3, thereby increasing the spatial dimension information of images while reducing parameters of the model. The YOLOv5 feature pyramid network structure is improved to incorporate feature images from shallow networks. The ability of the model to represent low-dimensional effective information of images is enhanced, and consequently the detection accuracy of the proposed model for small objects is improved. To reduce the impact of complex background in the image, the parameter-free average attention module is introduced to focus on both spatial attention and channel attention. VariFocal Loss is adopted to reduce the weight proportion of negative samples in the training process. Experiments on VisDrone dataset demonstrate the effectiveness of the proposed model. The detection accuracy is effectively improved while the model complexity is significantly reduced. © 2024 Science Press. All rights reserved.
Keyword ：
Aerial photography Aerial photography Antennas Antennas Complex networks Complex networks Image enhancement Image enhancement Object detection Object detection Object recognition Object recognition
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | Cai, Fenghuang , Zhang, Jiaxiang , Huang, Jie . Model for Small Object Detection in Aerial Photography Based on Low Dimensional Image Feature Fusion [J]. | Pattern Recognition and Artificial Intelligence , 2024 , 37 (2) : 162-171 . |
| MLA | Cai, Fenghuang et al. "Model for Small Object Detection in Aerial Photography Based on Low Dimensional Image Feature Fusion" . | Pattern Recognition and Artificial Intelligence 37 . 2 (2024) : 162-171 . |
| APA | Cai, Fenghuang , Zhang, Jiaxiang , Huang, Jie . Model for Small Object Detection in Aerial Photography Based on Low Dimensional Image Feature Fusion . | Pattern Recognition and Artificial Intelligence , 2024 , 37 (2) , 162-171 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Abstract ：
针对仅在获取多智能体局部距离及相对角度信息条件下如何保持多智能体系统刚性编任务规划队问题,本文提出了两种多智能体刚性编队任务规划方案.首先提出一种基于距离和相对角度的刚性编队规划方案,规划在未知相对位置情况下确保智能体刚性编队.其次利用零空间投影的任务规划方法解决编队任务与避障任务的冲突,确保编队移动过程中编队队形的稳定.再次结合距离和相对角度提出一种整体刚性编队规划方案,并在避障过程中将多智能体系统视为整体进行避障,确保稳定的刚性编队和避障任务的完成.经过仿真验证本文提出的两种方法在弱化相对位置信息的条件下能够较好的保持刚性编队并完成避障任务,对比于依赖相对位置的零空间行为控制方法弱化了对于相对位置信息的依赖.
Keyword ：
任务规划 任务规划 刚性编队 刚性编队 多智能体系统 多智能体系统 相对角度信息 相对角度信息 距离信息 距离信息
Cite：
Copy from the list or Export to your reference management。
| GB/T 7714 | 黄捷 , 李俊杰 . 基于距离及相对角度信息的多智能体系统刚性编队任务规划 [J]. | 航空兵器 , 2024 , 31 (2) : 79-90 . |
| MLA | 黄捷 et al. "基于距离及相对角度信息的多智能体系统刚性编队任务规划" . | 航空兵器 31 . 2 (2024) : 79-90 . |
| APA | 黄捷 , 李俊杰 . 基于距离及相对角度信息的多智能体系统刚性编队任务规划 . | 航空兵器 , 2024 , 31 (2) , 79-90 . |
| Export to | NoteExpress RIS BibTex |
Version ：
Export
| Results： |
Selected to |
| Format： |
