IEEE Transactions on Cybernetics最新文献

Online Trajectory Planning Method for Autonomous Ground Vehicles Confronting Sudden and Moving Obstacles Based on LSTM-Attention Network 基于 LSTM-注意力网络的地面自主飞行器面对突发性移动障碍物时的在线轨迹规划方法

IF 11.8 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2024-11-14 DOI: 10.1109/tcyb.2024.3486004

Zhida Xing, Runqi Chai, Kaiyuan Chen, Yuanqing Xia, Senchun Chai

引用次数: 0

Data-Driven Event-Triggered Sliding Mode Secure Control for Autonomous Vehicles Under Actuator Attacks 致动器攻击下自动驾驶汽车的数据驱动事件触发式滑动模式安全控制

IF 11.8 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2024-11-14 DOI: 10.1109/tcyb.2024.3490656

Hong-Tao Sun, Xinran Chen, Zhengqiang Zhang, Xiaohua Ge, Chen Peng

引用次数: 0

Multimodality Driven Impedance-Based Sim2Real Transfer Learning for Robotic Multiple Peg-in-Hole Assembly 多模态驱动的基于阻抗的模拟 2Real 转移学习，用于机器人多孔中钉装配。

IF 11.8 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2023-09-15 DOI: 10.1109/TCYB.2023.3310505

Wenkai Chen;Chao Zeng;Hongzhuo Liang;Fuchun Sun;Jianwei Zhang

{"title":"Multimodality Driven Impedance-Based Sim2Real Transfer Learning for Robotic Multiple Peg-in-Hole Assembly","authors":"Wenkai Chen;Chao Zeng;Hongzhuo Liang;Fuchun Sun;Jianwei Zhang","doi":"10.1109/TCYB.2023.3310505","DOIUrl":"10.1109/TCYB.2023.3310505","url":null,"abstract":"Robotic rigid contact-rich manipulation in an unstructured dynamic environment requires an effective resolution for smart manufacturing. As the most common use case for the intelligence industry, a lot of studies based on reinforcement learning (RL) algorithms have been conducted to improve the performances of single peg-in-hole assembly. However, existing RL methods are difficult to apply to multiple peg-in-hole issues due to more complicated geometric and physical constraints. In addition, previously limited solutions for multiple peg-in-hole assembly are hard to transfer into real industrial scenarios flexibly. To effectively address these issues, this work designs a novel and more challenging multiple peg-in-hole assembly setup by using the advantage of the Industrial Metaverse. We propose a detailed solution scheme to solve this task. Specifically, multiple modalities, including vision, proprioception, and force/torque, are learned as compact representations to account for the complexity and uncertainties and improve the sample efficiency. Furthermore, RL is used in the simulation to train the policy, and the learned policy is transferred to the real world without extra exploration. Domain randomization and impedance control are embedded into the policy to narrow the gap between simulation and reality. Evaluation results demonstrate the effectiveness of the proposed solution, showcasing successful multiple peg-in-hole assembly and generalization across different object shapes in real-world scenarios.","PeriodicalId":13112,"journal":{"name":"IEEE Transactions on Cybernetics","volume":"54 5","pages":"2784-2797"},"PeriodicalIF":11.8,"publicationDate":"2023-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10247647","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Safety-Based Speed Control of a Wheelchair Using Robust Adaptive Model Predictive Control 基于安全性的轮椅速度控制——采用鲁棒自适应模型预测控制。

IF 9.4 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2023-09-15 DOI: 10.1109/TCYB.2023.3309369

Meng Yuan;Ye Wang;Lei Li;Tianyou Chai;Wei Tech Ang

{"title":"Safety-Based Speed Control of a Wheelchair Using Robust Adaptive Model Predictive Control","authors":"Meng Yuan;Ye Wang;Lei Li;Tianyou Chai;Wei Tech Ang","doi":"10.1109/TCYB.2023.3309369","DOIUrl":"10.1109/TCYB.2023.3309369","url":null,"abstract":"Electric-powered wheelchairs play a vital role in ensuring accessibility for individuals with mobility impairments. The design of controllers for tracking tasks must prioritize the safety of wheelchair operation across various scenarios and for a diverse range of users. In this study, we propose a safety-oriented speed tracking control algorithm for wheelchair systems that accounts for external disturbances and uncertain parameters at the dynamic level. We employ a set-membership approach to estimate uncertain parameters online in deterministic sets. Additionally, we present a model predictive control scheme with real-time adaptation of the system model and controller parameters to ensure safety-related constraint satisfaction during the tracking process. This proposed controller effectively guides the wheelchair speed toward the desired reference while maintaining safety constraints. In cases where the reference is inadmissible and violates constraints, the controller can navigate the system to the vicinity of the nearest admissible reference. The efficiency of the proposed control scheme is demonstrated through high-fidelity speed tracking results from two tasks involving both admissible and inadmissible references.","PeriodicalId":13112,"journal":{"name":"IEEE Transactions on Cybernetics","volume":"54 8","pages":"4464-4474"},"PeriodicalIF":9.4,"publicationDate":"2023-09-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10247643","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Leveraged Matrix Completion With Noise 有噪声的杠杆矩阵完成。

IF 9.4 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2023-09-14 DOI: 10.1109/TCYB.2023.3305552

Xinjian Huang;Weiwei Liu;Bo Du;Dacheng Tao

{"title":"Leveraged Matrix Completion With Noise","authors":"Xinjian Huang;Weiwei Liu;Bo Du;Dacheng Tao","doi":"10.1109/TCYB.2023.3305552","DOIUrl":"10.1109/TCYB.2023.3305552","url":null,"abstract":"Completing low-rank matrices from subsampled measurements has received much attention in the past decade. Existing works indicate that \u0000<inline-formula> <tex-math>$mathcal {O}(nrlog ^{2}(n))$ </tex-math></inline-formula>\u0000 datums are required to theoretically secure the completion of an \u0000<inline-formula> <tex-math>$n times n$ </tex-math></inline-formula>\u0000 noisy matrix of rank \u0000<inline-formula> <tex-math>$r$ </tex-math></inline-formula>\u0000 with high probability, under some quite restrictive assumptions: 1) the underlying matrix must be incoherent and 2) observations follow the uniform distribution. The restrictiveness is partially due to ignoring the roles of the leverage score and the oracle information of each element. In this article, we employ the leverage scores to characterize the importance of each element and significantly relax assumptions to: 1) not any other structure assumptions are imposed on the underlying low-rank matrix and 2) elements being observed are appropriately dependent on their importance via the leverage score. Under these assumptions, instead of uniform sampling, we devise an ununiform/biased sampling procedure that can reveal the “importance” of each observed element. Our proofs are supported by a novel approach that phrases sufficient optimality conditions based on the Golfing scheme, which would be of independent interest to the wider areas. Theoretical findings show that we can provably recover an unknown \u0000<inline-formula> <tex-math>$ntimes n$ </tex-math></inline-formula>\u0000 matrix of rank \u0000<inline-formula> <tex-math>$r$ </tex-math></inline-formula>\u0000 from just about \u0000<inline-formula> <tex-math>$mathcal {O}(nrlog ^{2} (n))$ </tex-math></inline-formula>\u0000 entries, even when the observed entries are corrupted with a small amount of noisy information. The empirical results align precisely with our theories.","PeriodicalId":13112,"journal":{"name":"IEEE Transactions on Cybernetics","volume":"54 8","pages":"4443-4453"},"PeriodicalIF":9.4,"publicationDate":"2023-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10240234","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Cooperative Control of Multiagent Systems: A Quantization Feedback-Based Event-Triggered Approach 多代理系统的合作控制：基于量化反馈的事件触发方法

IF 11.8 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2023-09-13 DOI: 10.1109/TCYB.2023.3307099

Hongwei Cao;Xiucai Huang;Yongduan Song;Frank L. Lewis

{"title":"Cooperative Control of Multiagent Systems: A Quantization Feedback-Based Event-Triggered Approach","authors":"Hongwei Cao;Xiucai Huang;Yongduan Song;Frank L. Lewis","doi":"10.1109/TCYB.2023.3307099","DOIUrl":"10.1109/TCYB.2023.3307099","url":null,"abstract":"This article addresses the synchronization tracking problem for high-order uncertain nonlinear multiagent systems via intermittent feedback under a directed graph. By resorting to a novel storer-based triggering transmission strategy in the state channels, we propose an event-triggered neuroadaptive control method with quantitative state feedback that exhibits several salient features: 1) avoiding continuous control updates by making the parameter estimations updated intermittently at the trigger instants; 2) resulting in lower-frequency triggering transmissions by using one event detector to monitor the triggering condition such that each agent only needs to broadcast information at its own trigger times; and 3) saving communication and computation resources by designing the intermittent updating of neural network weights using a dual-phase technique during the triggering period. Besides, it is shown that the proposed scheme is capable of steering the tracking/disagreement errors into an adjustable neighborhood close to the origin, and the existence of a strictly positive dwell time is proved to circumvent Zeno behavior. Both theoretical analysis and numerical simulation authenticate and validate the efficiency of the proposed protocols.","PeriodicalId":13112,"journal":{"name":"IEEE Transactions on Cybernetics","volume":"54 3","pages":"1960-1971"},"PeriodicalIF":11.8,"publicationDate":"2023-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10221597","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Nonlinear Observer-Based Visual Servoing and Vibration Control of Flexible Robotic Manipulators With a Fixed Camera 基于非线性观测器的带有固定摄像头的柔性机械手视觉伺服和振动控制。

IF 9.4 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2023-09-13 DOI: 10.1109/TCYB.2023.3305357

Kai Li;Han Zhang;Hesheng Wang

{"title":"Nonlinear Observer-Based Visual Servoing and Vibration Control of Flexible Robotic Manipulators With a Fixed Camera","authors":"Kai Li;Han Zhang;Hesheng Wang","doi":"10.1109/TCYB.2023.3305357","DOIUrl":"10.1109/TCYB.2023.3305357","url":null,"abstract":"This article studies the visual servoing and vibration suppression control for flexible manipulators when the system states are unmeasurable and only the image feedback is available. The dynamic equations of flexible manipulators are decomposed into the slow and fast subsystems based on the singular perturbation theory. The nonlinear observers based on the state transformation using the Lie derivatives are proposed to estimate the unmeasurable system states and unknown camera intrinsic parameters at the same time. Then, the image-based controllers utilizing the estimated states are, respectively, designed in the slow and fast subsystems to regulate the image positions of feature points and suppress the vibration of flexible manipulators simultaneously. In the proposed approach, only the visual feedback is required to generate the control input for flexible manipulators, which simplifies the controller implementation. The stability of the proposed control scheme is proved based on the Lyapunov theory. Finally, experimental results on a flexible single-link manipulator are provided to demonstrate the effectiveness of the proposed control approach.","PeriodicalId":13112,"journal":{"name":"IEEE Transactions on Cybernetics","volume":"54 7","pages":"4100-4110"},"PeriodicalIF":9.4,"publicationDate":"2023-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10221600","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Efficient Surrogate Modeling Method for Evolutionary Algorithm to Solve Bilevel Optimization Problems 用于进化算法解决双层优化问题的高效代理建模方法

IF 9.4 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2023-09-13 DOI: 10.1109/TCYB.2023.3309598

Hao Jiang;Kang Chou;Ye Tian;Xingyi Zhang;Yaochu Jin

{"title":"Efficient Surrogate Modeling Method for Evolutionary Algorithm to Solve Bilevel Optimization Problems","authors":"Hao Jiang;Kang Chou;Ye Tian;Xingyi Zhang;Yaochu Jin","doi":"10.1109/TCYB.2023.3309598","DOIUrl":"10.1109/TCYB.2023.3309598","url":null,"abstract":"The purpose of this study was to develop an evolutionary algorithm (EA) with bilevel surrogate modeling, called BL-SAEA, for tackling bilevel optimization problems (BLOPs), in which an upper level problem is to be solved subject to the optimality of a corresponding lower level problem. The motivation of this article is that the extensive lower level optimization required by each upper level solution consumes too many function evaluations, leading to poor optimization performance of EAs. To this end, during the upper level optimization, the BL-SAEA builds an upper level surrogate model to select several promising upper level solutions for the lower level optimization. Because only a small number of upper level solutions require the lower level optimization, the number of function evaluations can be considerably reduced. During the lower level optimization, the BL-SAEA constructs multiple lower level surrogate models to initialize the population of the lower level optimization, thus further decreasing the number of function evaluations. Experimental results on two widely used benchmarks and two real-world BLOPs demonstrate the superiority of our proposed algorithm over six state-of-the-art algorithms in terms of effectiveness and efficiency.","PeriodicalId":13112,"journal":{"name":"IEEE Transactions on Cybernetics","volume":"54 7","pages":"4335-4347"},"PeriodicalIF":9.4,"publicationDate":"2023-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10295563","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Observer-Based Adaptive NN Security Control for Switched Nonlinear Systems Against DoS Attacks: An ADT Approach 基于观测器的切换非线性系统抗DoS攻击自适应NN安全控制:一种ADT方法。

IF 11.8 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2023-09-13 DOI: 10.1109/TCYB.2023.3309292

Hongzhen Xie;Guangdeng Zong;Dong Yang;Xudong Zhao;Kaibo Shi

{"title":"Observer-Based Adaptive NN Security Control for Switched Nonlinear Systems Against DoS Attacks: An ADT Approach","authors":"Hongzhen Xie;Guangdeng Zong;Dong Yang;Xudong Zhao;Kaibo Shi","doi":"10.1109/TCYB.2023.3309292","DOIUrl":"10.1109/TCYB.2023.3309292","url":null,"abstract":"In this article, a novel switched observer-based neural network (NN) adaptive control algorithm is established, which addresses the security control problem of switched nonlinear systems (SNSs) under denial-of-service (DoS) attacks. The considered SNSs are described in lower triangular form with external disturbances and unmodeled dynamics. Note that when an attack is launched in the sensor–controller channel, the controller will not receive any message, which makes the standard backstepping controller not workable. To tackle the challenge, a set of NN adaptive observers are designed under two different situations, which can switch adaptively depending on the DoS attack on/off. Further, an NN adaptive controller is constructed and the dynamic surface control method is borrowed to surmount the complexity explosion phenomenon. To eliminate double damage from DoS attacks and switches, a set of switching laws with average dwell time are designed via the multiple Lyapunov function method, which in combination with the proposed controllers, guarantees that all the signals in the closed-loop system are bounded. Finally, an illustrative example is offered to verify the availability of the proposed control algorithm.","PeriodicalId":13112,"journal":{"name":"IEEE Transactions on Cybernetics","volume":"53 12","pages":"8024-8034"},"PeriodicalIF":11.8,"publicationDate":"2023-09-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10230398","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Equivalent Input Disturbance-Based Control: Analysis, Development, and Applications 基于干扰的等效输入控制：分析、开发和应用》。

IF 11.8 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2023-09-12 DOI: 10.1109/TCYB.2023.3306879

Xiang Yin;Yuntao Shi;Jinhua She;Hanping Wang

{"title":"Equivalent Input Disturbance-Based Control: Analysis, Development, and Applications","authors":"Xiang Yin;Yuntao Shi;Jinhua She;Hanping Wang","doi":"10.1109/TCYB.2023.3306879","DOIUrl":"10.1109/TCYB.2023.3306879","url":null,"abstract":"This article reviews the concept, analysis, development, and applications of the equivalent-input-disturbance (EID) approach. First, the definition and existence of the EID are given, and the configuration of the EID estimator is provided. Next, estimation errors in the conventional EID approach are explained, and error-suppression methods are exhibited, which improve the disturbance-rejection performance. Then, this article describes how to apply the EID approach and associate challenges in dealing with nonlinearities, time delays, and uncertainties. Moreover, this article reviews some additional meaningful studies that cannot be categorized into the above-mentioned classes. Finally, some conclusions and future directions are given. The EID approach has been successfully used to suppress the influences of exogenous disturbances, nonlinearities, time delays, and uncertainties in many control systems to improve control performance and robustness. Studies can further rich the theory of the EID approach in the future, such as designing evaluation index, improving disturbance-rejection performance, developing new applications, and combining with other control theory.","PeriodicalId":13112,"journal":{"name":"IEEE Transactions on Cybernetics","volume":"54 4","pages":"2654-2667"},"PeriodicalIF":11.8,"publicationDate":"2023-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10589700","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0