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学者姓名：黄捷
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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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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)
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| 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 . |
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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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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
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| 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 . |
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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
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| 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 . |
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Cooperative trajectory planning of aerial-ground systems is a fundamental and challenging problem, which aims to leverage the aerial information to assist the ground tasks. Existing methods often suffer from suboptimal trajectories or computation burden. In this paper, we address cooperative trajectory planning of aerial-ground systems in which an unmanned ground vehicle (UGV) plans its local trajectory in real-time with the assistance of an unmanned aerial vehicle (UAV). Firstly, the UAV generates guidance trajectory using nonlinear model predictive control (NMPC), which considers the obstacle distribution density as a factor reflecting the coupling effect of multiple obstacles on the UGV, thereby avoiding local minima problem and improving the feasibility of the planned trajectory. Secondly, a null-space-based behavioral control (NSBC) framework is employed to merge the guidance trajectory into the UGV's own planned one as a task. Finally, an event triggering task supervisor is developed for the UGV to decide the priorities of all tasks, which reduces the switching frequency of task priorities brought by traditional rule-based task supervisors. Both simulation and experiment results show that the proposed approach has superior trajectory planning performance in terms of trajectory error, on-line computation time and the success rate of task execution.
Keyword ：
Aerial-ground systems Aerial-ground systems Behavioral control Behavioral control Model predictive control Model predictive control Trajectory planning Trajectory planning
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| GB/T 7714 | Huang, Jie , Chen, Jianfei , Zhang, Zhenyi et al. On Real-time Cooperative Trajectory Planning of Aerial-ground Systems [J]. | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS , 2024 , 110 (1) . |
| MLA | Huang, Jie et al. "On Real-time Cooperative Trajectory Planning of Aerial-ground Systems" . | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 110 . 1 (2024) . |
| APA | Huang, Jie , Chen, Jianfei , Zhang, Zhenyi , Chen, Yutao , Lin, Dingci . On Real-time Cooperative Trajectory Planning of Aerial-ground Systems . | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS , 2024 , 110 (1) . |
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Accurate ocean environment perception is crucial for weather and climate prediction. Environmental limitations and deployment costs constrain satellite and buoy real-time observation, leading to sparse data availability. This paper proposes a novel approach, multimodal fusion -based spatiotemporal incremental learning, enhancing the ocean environment perception under sparse observations. This method uses sparse real-time observations to comprehend, reconstruct, and predict the full environment. First, spatiotemporal disentanglement decouples intrinsic features by integrating physical principles and data learning. Subsequently, incremental extension captures the dynamic environment through stable representation updating and dynamic behavior learning. Then, multimodal information fusion synergizes multisource intrinsic features, enabling the full perception of the ocean environment. Finally, the methodology is supported by convergence analysis and error boundary evaluation. Validation with global sea surface temperature and western Pacific Ocean highdimensional temperature datasets demonstrates its potential for advancing ocean research and applications using sparse real-time observation.
Keyword ：
Incremental learning Incremental learning Information fusion Information fusion Ocean environment Ocean environment Sparse observation Sparse observation Spatiotemporal modeling Spatiotemporal modeling
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| GB/T 7714 | Lei, Lei , Huang, Jie , Zhou, Yu . Multimodal fusion-based spatiotemporal incremental learning for ocean environment perception under sparse observation [J]. | INFORMATION FUSION , 2024 , 108 . |
| MLA | Lei, Lei et al. "Multimodal fusion-based spatiotemporal incremental learning for ocean environment perception under sparse observation" . | INFORMATION FUSION 108 (2024) . |
| APA | Lei, Lei , Huang, Jie , Zhou, Yu . Multimodal fusion-based spatiotemporal incremental learning for ocean environment perception under sparse observation . | INFORMATION FUSION , 2024 , 108 . |
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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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面向智慧工厂中的多载位仓储机器人路径规划仿真教学,该文以多仓储机器人多目标配送与多任务冲突的案例作为典型教学内容,提出基于多智能体强化学习任务监管器的多载位仓储机器人路径规划仿真教学模式,设计多载位仓储机器人配送路径最优的仿真教学总体方案,实现多仓储机器人在路径规划过程中的多任务冲突消解,仿真教学案例有效减少了多载位仓储机器人的运输路径长度和避障时间.此设计适用于智慧工厂下智能物流机器人路径规划算法的课程教学,为创新型人才的培养和虚拟仿真实验室的建设提供了参考.
Keyword ：
任务监管器 任务监管器 仿真教学 仿真教学 多智能体强化学习 多智能体强化学习 多载位仓储机器人 多载位仓储机器人 路径规划 路径规划
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| GB/T 7714 | 黄捷 , 詹维捷 , 潘聪捷 et al. 面向智慧工厂的多仓储机器人路径规划仿真教学研究 [J]. | 实验技术与管理 , 2024 , 41 (11) : 100-108 . |
| MLA | 黄捷 et al. "面向智慧工厂的多仓储机器人路径规划仿真教学研究" . | 实验技术与管理 41 . 11 (2024) : 100-108 . |
| APA | 黄捷 , 詹维捷 , 潘聪捷 , 刘尚坤 . 面向智慧工厂的多仓储机器人路径规划仿真教学研究 . | 实验技术与管理 , 2024 , 41 (11) , 100-108 . |
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In this paper, the issue of distributed adaptive finite-time fault-tolerant cooperative control (FT-FTCC) problem is investigated for multiple unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) with unknown parameter uncertainties, actuator faults, input saturation and external disturbances. Starting from the dynamic models of the UAVs and UGVs, an unified control model is presented. Then, a sliding-mode estimator is presented to estimate the position of the leader for the followers which only uses the information from neighbours. Next, a distributed adaptive FT-FTCC scheme, which can also deal with the uncertainties, actuator faults, input saturation and disturbances, is proposed by utilising disturbance observers and neural networks. Based on Lyapunov function approach, the tracking errors of all followers subject to the pre-defined desired positions are uniformly ultimately bounded. Finally, simulations are given to validate the efficiency of the developed FT-FTCC scheme.
Keyword ：
Fault-tolerant cooperative control Fault-tolerant cooperative control finite-time control finite-time control input saturation and external disturbances input saturation and external disturbances multiple UAVs and UGVs multiple UAVs and UGVs
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| GB/T 7714 | Liu, Shangkun , Jiang, Bin , Mao, Zehui et al. Distributed adaptive finite-time fault-tolerant cooperative control of heterogeneous multi-agent systems with saturation and disturbances [J]. | INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE , 2024 , 56 (7) : 1442-1456 . |
| MLA | Liu, Shangkun et al. "Distributed adaptive finite-time fault-tolerant cooperative control of heterogeneous multi-agent systems with saturation and disturbances" . | INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 56 . 7 (2024) : 1442-1456 . |
| APA | Liu, Shangkun , Jiang, Bin , Mao, Zehui , Zhang, Youmin , Huang, Jie . Distributed adaptive finite-time fault-tolerant cooperative control of heterogeneous multi-agent systems with saturation and disturbances . | INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE , 2024 , 56 (7) , 1442-1456 . |
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