International Journal of Control Automation and Systems

Journal Article

On Scheduled Space-Time Convergence: Sliding Mode Control Through the Scheduled Time Function

Liu, Weixiang; Sun, Yutong; Ma, Haifeng; Xiong, Zhenhua; Liu, Zhanqiang;

2024 International Journal of Control Automation and Systems

Previous researches on sliding mode control focus on the time or space domain, regardless of the combination of the two domains. This paper presents a new scheduled space-time barrier sliding mode control (SSTBSMC) scheme for disturbed systems. The SSTBSMC scheme is established based on the...

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Journal Article

Quadrupedal Locomotion in an Energy-efficient Way Based on Reinforcement Learning

Hao, Tiantian; Xu, De; Yan, Shaohua

2024 International Journal of Control Automation and Systems

doi:10.1007/s12555-022-1218-x

Achieving energy-efficient motion is important for the application of quadruped robots in a wide range. In this paper, we propose a hierarchical control framework that combines reinforcement learning and virtual model control to achieve energy-efficient motion with a planned gait. A reinforcement...

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Journal Article

MPC-based Lateral Motion Control for Autonomous Vehicles Through Serially Cascaded Discretization Method Considering Path Preview

Zhu, Guozhu; Jie, Hao; Zheng, Zekai; Hong, Weirong

2024 International Journal of Control Automation and Systems

doi:10.1007/s12555-023-0008-4

Autonomous vehicles have gained popularity over the past few years. In this paper, an MPC-based lateral motion controller for autonomous vehicles through serially cascade discretization method is developed. A single discretization method in the entire prediction horizon is usually adopted in MPC....

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Journal Article

Analysis of Bandwidth Expansion and Interference Suppression of Digital Hydraulic Cylinder System

Yu, Hui; Wang, Hui; Guo, Chenguang

2024 International Journal of Control Automation and Systems

doi:10.1007/s12555-022-0589-3

This paper concentrates on digital hydraulic cylinder systems’ interference suppression and bandwidth expansion problems. The goals are to ensure the system’s stability and improve the rapid response-ability. First, a non-linear dynamics is used instead of linearization to formulate the plan....

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Journal Article

Global Output Feedback Stabilization for Switched Nonlinear Systems Under Arbitrary Switching

Zhan, Shuyan; Jia, Xianglei; Xiang, Chengdi

2024 International Journal of Control Automation and Systems

doi:10.1007/s12555-022-0922-x

Global stabilization of a class of switched nonlinear systems with unknown arbitrarily switched output function is achieved via output feedback. A couple of improved high-gain observer and output feedback control law are proposed by using dual high-gain scaling technique. In the presence of...

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Journal Article

Observer-based Fixed-time Output Feedback Control for Flexible-joint Manipulators via Improved Command-filtered Backstepping

Fan, Shengxuan; Liu, Hengheng; Tian, Senping; Gu, Panpan

2024 International Journal of Control Automation and Systems

doi:10.1007/s12555-022-0941-7

In this paper, an observer-based fixed-time output feedback control method for flexible-joint manipulators is proposed. First, a novel extended-state observer is designed to estimate unmeasurable states and lumped disturbances exactly in a fixed time, and the chattering phenomenon caused by...

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Journal Article

Reinforcement Q-learning and Optimal Tracking Control of Unknown Discrete-time Multi-player Systems Based on Game Theory

Zhao, Jin-Gang

2024 International Journal of Control Automation and Systems

doi:10.1007/s12555-022-1133-1

This paper studies the fully cooperative game tracking control problem (FCGTCP) for a class of discrete-time multi-player linear systems with unknown dynamics. The reference trajectory is generated by a command generator system. An augmented multi-player systems composed of the origin...

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Journal Article

The Relationship Between Augmented Lyapunov-Krasovskii Functionals and Estimated Inequalities

Liao, Daixi; Zhong, Shouming; Cheng, Jun; Shi, Kaibo; Long, Shaohua;

2024 International Journal of Control Automation and Systems

doi:10.1007/s12555-022-1233-y

Different estimated inequalities and augmented Lyapunov-Krasovskii functionals (LKFs) play important role in assessing the stability of time-delay systems. In this technical note, three categories of estimated inequalities are introduced, in which either all matrices, some matrices or no matrices...

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Journal Article

Decentralized Position/torque Control of Modular Robot Manipulators via Interaction Torque Estimation-based Human Motion Intention Identification

Wang, Yuexi; An, Tianjiao; Cui, Yiming; Li, Yuanchun; Dong, Bo

2024 International Journal of Control Automation and Systems

doi:10.1007/s12555-023-0004-8

For the application background of physical human robot interaction (pHRI), a novel decentralized position/torque control scheme of modular robot manipulators (MRMs) is developed based on the human motion intention identification in this investigation. Different from traditional control schemes...

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Journal Article

Virtual-leader Split/Rejoin-based Flocking Control With Obstacle Avoidance for Multi-agents

Wu, Jianhui; Ji, Yuanfa; Sun, Xiyan; Liang, Weibin

2024 International Journal of Control Automation and Systems

doi:10.1007/s12555-022-0950-6

In the research of flocking control algorithm with obstacle avoidance, the constraints of obstacle information, shape and boundary limit their practical applications. To relax these constraints, we assume that the agent can only perceive the position of static obstacle boundary points within its...

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