IEEE Transactions on Cybernetics最新文献_第3页

Improved Safe Tracking Error-Constrained Control for Unknown Interconnected Time-Delay Nonlinear Systems With Discontinuous References.

IF 9.4 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2025-03-25 DOI: 10.1109/TCYB.2025.3548610

Lingchen Zhu, Liuliu Zhang, Cheng Qian, Changchun Hua

{"title":"Improved Safe Tracking Error-Constrained Control for Unknown Interconnected Time-Delay Nonlinear Systems With Discontinuous References.","authors":"Lingchen Zhu, Liuliu Zhang, Cheng Qian, Changchun Hua","doi":"10.1109/TCYB.2025.3548610","DOIUrl":"https://doi.org/10.1109/TCYB.2025.3548610","url":null,"abstract":"In this article, we address the improved error-constrained control problem for unknown, strongly interconnected time-delay nonlinear systems with input saturation and conflicted output constraints. The further challenge we face is that the presence of discontinuous reference signals poses greater difficulties for control design. To tackle these issues, a mechanism for generating smooth, safe reference signals is first devised. Additionally, we propose a novel approach that utilizes improved prescribed performance functions to confine tracking errors within predetermined constant bounds in finite time, while avoiding potential singularity issues arising from abrupt changes in the reference signal. Furthermore, a decentralized adaptive learning error-constrained control strategy is proposed, employing neural networks to approximate complex uncertainties with an asymptotic dynamic surface control method. Stability analysis confirms that the proposed control scheme guarantees the asymptotic stability of the system and ensures safe tracking within conflicted irregular output constraints, even in the presence of input saturation. Finally, simulation results demonstrate the efficacy of the presented control strategy.","PeriodicalId":13112,"journal":{"name":"IEEE Transactions on Cybernetics","volume":"PP ","pages":""},"PeriodicalIF":9.4,"publicationDate":"2025-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143709329","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

Multicontact Safety-Critical Planning and Adaptive Neural Control of a Soft Exosuit Over Different Terrains.

IF 9.4 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2025-03-25 DOI: 10.1109/TCYB.2025.3550746

Weixiong Yang, Zhijun Li, Guoxin Li, Liangrui Xu

{"title":"Multicontact Safety-Critical Planning and Adaptive Neural Control of a Soft Exosuit Over Different Terrains.","authors":"Weixiong Yang, Zhijun Li, Guoxin Li, Liangrui Xu","doi":"10.1109/TCYB.2025.3550746","DOIUrl":"10.1109/TCYB.2025.3550746","url":null,"abstract":"Many previous works on wearable soft exosuits have primarily focused on assisting human motion, while overlooking safety concerns during movement. This article introduces a novel single-motor, altering bi-directional transfer soft exosuit based on impedance optimization and adaptive neural control, which provides assistance to the lower limbs using Bowden cables. This innovative soft exosuit integrates control barrier functions into the impedance optimization, allowing multiple safety constraints to be considered simultaneously, enabling the system to adaptively learn the impedance of the human ankle joint by analyzing the measured interaction forces at the ankle joint, so that the updated reference trajectories comply with safety requirements. To effectively track the updated reference trajectories, we have introduced an adaptive neural controller based on the integral barrier Lyapunov function. This controller is designed to perform the control task under strict safety constraints. The stability of this control approach is meticulously demonstrated through extensive Lyapunov analysis. In contrast to traditional soft exosuits designed purely for assistance, the key advantage of this technology is its ability to adapt to different terrains while ensuring the safety of human movement during assistance. Through experimental testing, we obtain average tracking errors of 0.0062, 0.0062, and 0.0063 rad for flat, grass, and gravel surfaces, respectively, demonstrating the effectiveness of the proposed strategy.","PeriodicalId":13112,"journal":{"name":"IEEE Transactions on Cybernetics","volume":"PP ","pages":""},"PeriodicalIF":9.4,"publicationDate":"2025-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143709404","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

A Dynamic Systems Approach to Modeling Human-Machine Rhythm Interaction.

IF 9.4 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2025-03-25 DOI: 10.1109/TCYB.2025.3547216

Zhongju Yuan, Wannes Van Ransbeeck, Geraint A Wiggins, Dick Botteldooren

{"title":"A Dynamic Systems Approach to Modeling Human-Machine Rhythm Interaction.","authors":"Zhongju Yuan, Wannes Van Ransbeeck, Geraint A Wiggins, Dick Botteldooren","doi":"10.1109/TCYB.2025.3547216","DOIUrl":"https://doi.org/10.1109/TCYB.2025.3547216","url":null,"abstract":"Rhythm is an inherent aspect of human behavior, present from infancy and embedded in cultural practices. At the core of rhythm perception lies meter anticipation, a spontaneous process in the human brain that typically occurs before actual beats. This anticipation can be framed as a time series prediction problem. From the perspective of human embodied system behavior, although many models have been developed for time series prediction, most prioritize accuracy over biological realism, contrasting with the natural imprecision of human internal clocks. Neuroscientific evidence, such as infants' natural meter synchronization, underscores the need for biologically plausible models. Therefore, we propose a neuron oscillator-based dynamic system that simulates human behavior during meter perception. The model introduces two tunable parameters for local and global adjustments, fine-tuning the oscillation combinations to emulate human-like rhythmic behavior. The experiments are conducted under three common scenarios encountered during human-machine interaction, demonstrating that the proposed model can exhibit human-like reactions. Additionally, experiments involving human-machine and interhuman interactions show that the model successfully replicates real-world rhythmic behavior, advancing toward more natural and synchronized human-machine rhythm interaction.","PeriodicalId":13112,"journal":{"name":"IEEE Transactions on Cybernetics","volume":"PP ","pages":""},"PeriodicalIF":9.4,"publicationDate":"2025-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143709394","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

Prescribed-Time Bipartite Synchronization for General Linear Multiagent Systems: An Adaptive Dynamic Output-Feedback Strategy.

IF 9.4 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2025-03-24 DOI: 10.1109/TCYB.2025.3546386

Yuan Zhou, Yu Zhao, Guofeng Zhang, Heung-Wing Joseph Lee

{"title":"Prescribed-Time Bipartite Synchronization for General Linear Multiagent Systems: An Adaptive Dynamic Output-Feedback Strategy.","authors":"Yuan Zhou, Yu Zhao, Guofeng Zhang, Heung-Wing Joseph Lee","doi":"10.1109/TCYB.2025.3546386","DOIUrl":"https://doi.org/10.1109/TCYB.2025.3546386","url":null,"abstract":"Achieving prescribed-time synchronization with output-feedback measurements in general linear multiagent systems is challenging, as it necessitates the simultaneous achievement of state synchronization and observer estimation within a prescribed time. This article focuses on general linear dynamics and aims to solve the prescribed-time bipartite synchronization (PT-BS) problem over cooperative-antagonistic networks. First, a couple of time-varying Riccati equations (TVREs) is introduced, which transforms the prescribed-time synchronization problem into a dynamic parameter design issue. By using the solutions of TVREs to design output feedback gains, a class of time-varying-gain prescribed-time observers and observer-based protocols are proposed. Then, since the proposed PT-BS observers require knowledge of some global information (i.e., the minimum eigenvalue of the topology-relevant Laplacian matrix), two adaptive strategies are presented to solve the output-feedback PT-BS problems in a fully distributed manner: an edge-based adaptive strategy and a node-based adaptive strategy. It successfully achieves state synchronization, observer estimation, and adaptive gain convergence within the prescribed settling time. Finally, a simulation example demonstrates the effectiveness of the theoretical results.","PeriodicalId":13112,"journal":{"name":"IEEE Transactions on Cybernetics","volume":"PP ","pages":""},"PeriodicalIF":9.4,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143700358","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

Secure Consensus for Switched Multiagent Systems Under DoS Attacks: Hybrid Event-Triggered and Impulsive Control Approach DoS 攻击下交换式多代理系统的安全共识：事件触发和脉冲控制混合方法

IF 11.8 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2025-03-22 DOI: 10.1109/tcyb.2025.3546923

Xin Wang, Zhuocheng Yin, Yan Lei, Tingwen Huang, Jürgen Kurths

引用次数: 0

IEEE Transactions on Cybernetics 电气和电子工程师学会控制论论文集

IF 9.4 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2025-03-21 DOI: 10.1109/TCYB.2025.3548834

引用次数: 0

IEEE Transactions on Cybernetics

IF 9.4 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2025-03-21 DOI: 10.1109/TCYB.2025.3548832

引用次数: 0

Connect. Support. Inspire. 连接。支持。激发灵感。

IF 9.4 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2025-03-21 DOI: 10.1109/TCYB.2025.3552181

引用次数: 0

tcyb-cover2-fill-3548830

IF 9.4 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2025-03-21 DOI: 10.1109/TCYB.2025.3548830

引用次数: 0

Security Control of Safety-Critical Systems.

IF 9.4 1区计算机科学

IEEE Transactions on Cybernetics Pub Date : 2025-03-20 DOI: 10.1109/TCYB.2025.3545422

Yi Dong, Yiguang Hong, Jie Chen

引用次数: 0