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- research-articleMarch 2024
Enhanced method for reinforcement learning based dynamic obstacle avoidance by assessment of collision risk
AbstractNaturally inspired designs of training environments for reinforcement learning (RL) often suffer from highly skewed encounter probabilities, with a small subset of experiences being encountered frequently, while extreme experiences remain rare. ...
- research-articleMarch 2024
Stable approximate Q-learning under discounted cost for data-based adaptive tracking control
AbstractIn this paper, the stability of tracking error dynamics under the data-based discounted iterative Q-learning is investigated. First, a novel performance index with a discount factor is introduced into the iterative Q-learning-based tracking ...
- research-articleMarch 2024
Adaptive learning control of robot manipulators via incremental hybrid neural network
AbstractA novel hybrid neural network based learning control method is proposed to improve trajectory tracking accuracy for complex robot manipulators in this paper. Firstly, a hybrid neural network is presented to improve the model accuracy and data ...
- research-articleMarch 2024
Dynamic event-triggered-based online IRL algorithm for the decentralized control of the input and state constrained large-scale unmatched interconnected system
AbstractThis article proposed a novel adaptive decentralized control (ADC) method for the continuous-time state-constrained and input-constrained large-scale unmatched interconnection system by the means of the adaptive critic design in the edge dynamic ...
Highlights- The state-constrained and input-constrained problems are simultaneously considered.
- In online IRL algorithm, the constrained system dynamic can be partially unknown.
- The EDET mechanism is devised to replace the traditional SET ...
- research-articleMarch 2024
Stabilization and synchronization control for discrete-time complex networks via the auxiliary role of edges subsystem
AbstractIn this paper, a novel discrete-time interconnected model composed of nodes and edges subsystems is proposed, to depict the complex dynamical networks (CDNs) consisted of nodes and dynamic edges which are coupled mutually. Firstly, we propose a ...
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- research-articleMarch 2024
Decentralized optimal control of large-scale partially unknown nonlinear mismatched interconnected systems based on dynamic event-triggered control
AbstractIn this paper, a novel decentralized control method is proposed for nonlinear mismatched large-scale interconnected systems subjected to partially unknown dynamics by designing auxiliary control for each subsystem. It is demonstrated that the ...
Highlights- Edge dynamic event-triggered control is first time combined with IRL algorithms.
- The IRL algorithm relaxes the requirement of the system drift dynamics.
- Edge dynamic event-triggered method has better performance than static ...
- research-articleMarch 2024
Distributed adaptive event-triggered asymptotic tracking control of linear uncertain multiagent systems by using output only
AbstractFor the robust tracking control problem of multiagent systems with linear uncertainties, most of the existing studies require full state feedback. Moreover, the designed control strategy also uses global information, such as the number of agents ...
- research-articleMarch 2024
Fault-tolerant tracking control for nonlinear systems with multiplicative actuator faults in view of zero-sum differential games
AbstractIn view of zero-sum differential games, this paper addresses the fault-tolerant tracking control (FTTC) problem for nonlinear systems with multiplicative actuator faults. By augmenting the nominal system, the trajectory tracking problem is ...
- research-articleMarch 2024
Neural dynamics solver for time-dependent infinity-norm optimization based on ACP framework with robot application
AbstractIn general, infinity-norm optimization (INO) is commonly deemed as a subset of nonlinear optimization. In the last decade, there have been relatively few reports on solving INO problems, specifically from the time-dependent aspect originating ...
- research-articleMarch 2024
Finite-time quasi-synchronization of multi-layer heterogeneous networks with distributed hybrid control
AbstractIn this paper, the finite-time quasi-synchronization of a multi-layer heterogeneous network with a leader node is studied. A novel distributed control approach that incorporates impulsive control is introduced to achieve finite-time quasi-...
- research-articleFebruary 2024
Personalized robotic control via constrained multi-objective reinforcement learning
AbstractReinforcement learning is capable of providing state-of-art performance in end-to-end robotic control tasks. Nevertheless, many real-world control tasks necessitate the balancing of multiple conflicting objectives while simultaneously ensuring ...
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Highlights- A constrained multi-objective reinforcement learning approach is proposed.
- The method is formulated as a constrained multi-objective Markov decision process.
- An evenness metric is designed through Shannon–Wiener diversity index.
- research-articleFebruary 2024
Credible Gaussian sum cubature Kalman filter based on non-Gaussian characteristic analysis
AbstractToward the pose estimation problem of unmanned aerial vehicles (UAVs) flight over water, a credible Gaussian-sum cubature Kalman filter (CGSCKF) based on non-Gaussian characteristic analysis for nonlinear non-Gaussian system is proposed. In the ...
- research-articleFebruary 2024
Dynamic compensator-based near-optimal control for unknown nonaffine systems via integral reinforcement learning
AbstractIn this paper, a dynamic compensator-based near-optimal control approach for unknown nonaffine nonlinear systems is developed by using integral reinforcement learning. Since system dynamics is unknown, it is difficult to obtain the optimal ...
- research-articleFebruary 2024
Adaptive finite-time prescribed performance tracking control for hydraulic servo systems with friction compensation
AbstractHydraulic systems present numerous challenges in the development of high-performance tracking controllers due to their highly nonlinear characteristics and heavy modeling uncertainties. Addressing this issue, this paper presents a friction ...
Highlights- Efficient Implementation of Finite-time Prescribed Performance Neural Network Control Scheme.
- Effective Friction Compensation Strategy for Servo Systems.
- Design and Application of Low-Complexity Controllers.
- research-articleFebruary 2024
Optimal bipartite consensus for discrete-time multi-agent systems with event-triggered mechanism based on adaptive dynamic programming
AbstractThis paper proposes optimal bipartite consensus issue for discrete-time multi-agent system (DTMAS) using event-triggered control (ETC) and quantized event-triggered control (QETC). Firstly, a novel event-triggered control strategy is introduced ...
- research-articleFebruary 2024
Optimal tracking control for unknown nonlinear systems with uncertain input saturation: A dynamic event-triggered ADP algorithm
AbstractThis paper is devoted to proposing a novel dynamic event-triggered adaptive dynamic programming (ADP) algorithm to tackle the tracking control problem of unknown nonlinear systems with uncertain input saturation. Initially, an augmented system is ...
- research-articleFebruary 2024
Event-triggered critic learning impedance control of lower limb exoskeleton robots in interactive environments
AbstractIn this paper, we present an event-triggered critic learning impedance control algorithm for a lower limb rehabilitation exoskeleton robot in an interactive environment, where the control objective is specified by a desired impedance model. In ...
- research-articleJanuary 2024
Fuzzy adaptive resilient control against unknown false data injection attacks for high-order nonlinear systems with actuator failures
AbstractAn adaptive resilient control technique for high-order nonlinear systems with actuator failures is presented in this work. The unknown false data injection (FDI) attacks make all controlled system states unavailable. To counteract this negative ...
- research-articleJanuary 2024
Human–robot collaborative interaction with human perception and action recognition
AbstractThis paper presents a human–robot interaction system (HRIS) that utilizes human perception and action recognition to enable the robot to understand human intentions and flexibly interact with humans. A monocular multi-person three-dimensional (3D)...
- research-articleDecember 2023
Event-triggered formation-containment control for multi-agent systems based on sliding mode control approaches
AbstractIn this article, event-triggered (ET) formation-containment control is profoundly investigated for discrete-time multi-agent systems (DT-MASs) in the framework of sliding mode control (SMC). The ET mechanism is utilized to effectively relieve the ...