IEEE Transactions on Systems Man Cybernetics-Systems最新文献_第10页

IEEE Transactions on Systems, Man, and Cybernetics: Systems Information for Authors IEEE系统、人与控制论汇刊：作者的系统信息

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-16 DOI: 10.1109/TSMC.2025.3561486

引用次数: 0

Reinforcement Learning Methods for Assistive and Rehabilitation Robotic Systems: A Survey 辅助和康复机器人系统的强化学习方法：综述

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-16 DOI: 10.1109/TSMC.2025.3555598

Mojtaba Sharifi;Shreesh Tripathi;Yun Chen;Qiang Zhang;Mahdi Tavakoli

{"title":"Reinforcement Learning Methods for Assistive and Rehabilitation Robotic Systems: A Survey","authors":"Mojtaba Sharifi;Shreesh Tripathi;Yun Chen;Qiang Zhang;Mahdi Tavakoli","doi":"10.1109/TSMC.2025.3555598","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3555598","url":null,"abstract":"Advancements in robotic systems aimed at improving mobility for individuals with disabilities have required more sophisticated control and navigation methods. Traditional control approaches often lack the complexity and adaptability needed for the high-dimensional nature of human activities. Consequently, reinforcement learning (RL) has emerged as a dynamic and effective framework for managing robotic actions in complex and unpredictable human environments. This article reviews the integration of RL in robotic systems for enhancing the mobility of individuals with disabilities, addressing the limitations of traditional control methods in complex and unpredictable environments. We critically analyze various RL algorithms, discussing their advantages and challenges in assistive and rehabilitation applications. The study highlights the ongoing development of these algorithms, presenting current research directions, future prospects, and key challenges to achieving higher autonomy in assistive robots. Our findings underscore the potential of RL to improve adaptability and effectiveness in robotic control and navigation, offering insights into advancing these technologies for practical implementations.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 7","pages":"4534-4551"},"PeriodicalIF":8.6,"publicationDate":"2025-04-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308258","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

IEEE Transactions on Systems, Man, and Cybernetics: Systems Publication Information IEEE系统、人与控制论汇刊：系统出版信息

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-16 DOI: 10.1109/TSMC.2025.3561482

引用次数: 0

Resilient MPC With Switched Cost Functions for Cyber-Physical Systems Against DoS Attacks 弹性MPC与交换成本函数的网络物理系统抵御DoS攻击

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-15 DOI: 10.1109/TSMC.2025.3555826

Huan Yang;Li Dai;Yaling Ma;Qing Li;Yuanqing Xia

{"title":"Resilient MPC With Switched Cost Functions for Cyber-Physical Systems Against DoS Attacks","authors":"Huan Yang;Li Dai;Yaling Ma;Qing Li;Yuanqing Xia","doi":"10.1109/TSMC.2025.3555826","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3555826","url":null,"abstract":"This article introduces a resilient model predictive control (MPC) approach for constrained cyber-physical systems (CPSs) in the presence of bounded disturbances and denial-of-service (DoS) attacks. An attacker aims to disrupt the communication channel between the controller and actuator (C-A) by deploying adversarial jamming signals. A resilient MPC algorithm is designed, where switching between different cost functions is considered and the control input sequences optimized are used to compensate for information loss caused by DoS attacks. We demonstrate that under certain conditions on the duration of DoS attacks and system parameters, the closed-loop system can be guaranteed to be uniformly ultimately bounded (UUB) in the attack scenario. Moreover, in the nonattack scenario, it exhibits robust asymptotic stability. By properly setting tightened constraints and cost functions, the recursive feasibility of the optimization problem can be ensured for any admissible attack scenario and disturbances realization. The maximum duration of DoS attacks that can be tolerated in the C-A channel is derived by feasibility analysis. Finally, the effectiveness of the designed algorithm is validated through a simulation example, which includes comparisons with two other algorithms.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 7","pages":"4444-4457"},"PeriodicalIF":8.6,"publicationDate":"2025-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308274","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

An Algebraic Approach to Robust Iterative Learning Control for Linear Discrete-Time Singular System With Initial State Shifting 具有初始状态转移的线性离散奇异系统鲁棒迭代学习控制的代数方法

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-14 DOI: 10.1109/TSMC.2025.3552680

Xiaoe Ruan;Ijaz Hussain;Chen Liu;Yan Liu;Bingqiang Li

{"title":"An Algebraic Approach to Robust Iterative Learning Control for Linear Discrete-Time Singular System With Initial State Shifting","authors":"Xiaoe Ruan;Ijaz Hussain;Chen Liu;Yan Liu;Bingqiang Li","doi":"10.1109/TSMC.2025.3552680","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3552680","url":null,"abstract":"For a repetitive difference-algebraic singular system operated over a finite discrete-time length to track a desired trajectory, this article first lifts the output as the force-free reaction to the initial state and the response to the forced input while the initial state of the difference subsystem drops in a neighborhood of a fixed point. Then, in order to construct an iterative learning control law for mating with the dynamic-static feature, the error compensation is designed synchronous with that of the input and the gain is argued for a quadratic minimization. By extracting the lifted tracking error as nonzero and zero segments, the optimized gain is explicated by system Markov parameters and the error. Rigorously algebraic operation delivers that the tracking error is asymptotically bound for a value that is linearly relevant to the threshold of the initial states shifting, which means that the addressed optimal learning scheme is robust to the initial state uncertainties. Further inference conveys that the tracking error is asymptotically vanishing while the initial state shifting is sequentially decaying and the tracking error is linearly monotonously convergent when the initial state is settled, respectively. Numerical experiments support the clarification.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 7","pages":"4485-4497"},"PeriodicalIF":8.6,"publicationDate":"2025-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308271","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

Capability-Oriented Decision-Making in Multi-UAV Deployment and Task Allocation: A Hierarchical Game-Based Framework 多无人机部署与任务分配中的能力导向决策：基于层次博弈的框架

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-11 DOI: 10.1109/TSMC.2025.3551500

Xingshuo Hai;Qiang Feng;Weike Chen;Changyun Wen;Andy W. H. Khong

{"title":"Capability-Oriented Decision-Making in Multi-UAV Deployment and Task Allocation: A Hierarchical Game-Based Framework","authors":"Xingshuo Hai;Qiang Feng;Weike Chen;Changyun Wen;Andy W. H. Khong","doi":"10.1109/TSMC.2025.3551500","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3551500","url":null,"abstract":"High-level decision-making for multiple uncrewed aerial vehicles (multi-UAV) mission planning is crucial, especially with the rising demand for long-term services in geo-distributed environments. However, the interrelated issues of multi-UAV deployment and task allocation are often addressed separately. This article integrates these two problems and introduces a hierarchical framework for effective decision-making. This is achieved by proposing balanced capability (BC), a customized metric tailored for long-term multi-UAV missions with geographically dispersed targets. By considering the global objective and self-organized coordination, a joint optimization model is established from a game-theoretical perspective. Additionally, a novel tangent and cotangent search algorithm (TCSA) is proposed to steer cooperative players toward the global objective in the upper layer, while in the lower layer, a modified distributed task allocation algorithm (MDT2A) incentivizes each autonomous player to efficiently maximize their individual benefits. Simulations validate the effectiveness of the proposed method, with comparative results highlighting the superiority of the algorithms.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 7","pages":"4562-4574"},"PeriodicalIF":8.6,"publicationDate":"2025-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308317","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

Security Control of Interval Type-2 Fuzzy Singularly Perturbed Hidden Markov Jump Systems: Dissipativity-Based Static Output Feedback 区间2型模糊奇摄动隐马尔可夫跳变系统的安全控制：基于耗散的静态输出反馈

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-10 DOI: 10.1109/TSMC.2025.3549655

Dongji Wang;Shengyuan Xu;Hao Shen

{"title":"Security Control of Interval Type-2 Fuzzy Singularly Perturbed Hidden Markov Jump Systems: Dissipativity-Based Static Output Feedback","authors":"Dongji Wang;Shengyuan Xu;Hao Shen","doi":"10.1109/TSMC.2025.3549655","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3549655","url":null,"abstract":"The dissipative control problem is investigated in this article for nonlinear hidden Markov jump systems with singular perturbation parameter (SPP) under replay attacks. Thereinto, an interval type-2 T-S fuzzy model is used to characterize the nonlinearities together with uncertainties. Meanwhile, a detection method combined with multisensor scheme is introduced to compensate for the damage to system stability by replay attacks. Based on the detection scheme, a fuzzy-mode-dependent controller based on static output feedback control is also constructed to enable the original systems to maintain robust operation even attacked. Then, by resorting to an improved Lyapunov function that depends on both the singular perturbation parameter and jump modes, some sufficient conditions, ensuring the stochastic stability and strict <inline-formula> <tex-math>$(Q,S,R)$ </tex-math></inline-formula>-dissipativity of the resulting systems, are deduced in theory. Furthermore, the gains of the constructed controller are calculated by solving the matrix convex optimization problem. Finally, the efficacy and practicality of the obtained results are verified via two examples.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 7","pages":"4498-4508"},"PeriodicalIF":8.6,"publicationDate":"2025-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308259","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

Pinning Control for Local Synchronization of Drive-Response Boolean Networks 驱动-响应布尔网络本地同步的钉住控制

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-10 DOI: 10.1109/TSMC.2025.3553301

Tiantian Mu;Jun-e Feng;Yiliang Li;Yanjun Cui

引用次数: 0

Capital Equilibrium Switching Control for Discrete Supply Chain Systems 离散供应链系统的资本均衡切换控制

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-08 DOI: 10.1109/TSMC.2025.3554754

Xiaohong Chen;Yi Cui;Dongbin Hu;Xuanhua Xu;Fangyi Zhou

{"title":"Capital Equilibrium Switching Control for Discrete Supply Chain Systems","authors":"Xiaohong Chen;Yi Cui;Dongbin Hu;Xuanhua Xu;Fangyi Zhou","doi":"10.1109/TSMC.2025.3554754","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3554754","url":null,"abstract":"Due to the passage of time and uncertain demand changes, the two-level supply chain finance system transforms into a dynamic and uncertain multimodel discrete system. The continuous fluctuations in the capital levels of node companies significantly impact both the business activities of these companies and the stability of the system. Effective capital equilibrium switching control can adjust the system’s steady state. Consequently, this article introduces a strategy for dynamic capital equilibrium based on a fundamental model of the system’s capital. Additionally, a capital equilibrium switching strategy, composed of a robust control strategy and a capital equilibrium strategy, is designed based on the Takagi-Sugeno model to achieve stability. Furthermore, multiple sets of simulation tests not only validate the effectiveness of the capital equilibrium switching strategy under different external demand distributions but also confirm the scientificity and reliability of the method proposed. Finally, this article analyzes the impact of internal capital scheduling on both the capital equilibrium and the overall system.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 7","pages":"4575-4586"},"PeriodicalIF":8.6,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308214","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

Decoupling Design and Fast Kinematics Resolving Method for Cable-Driven Segmented Manipulator 索驱动分段机械臂解耦设计及快速运动学求解方法

IF 8.6 1区计算机科学

IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-04-08 DOI: 10.1109/TSMC.2025.3554591

Taiwei Yang;Junxiang Li;Wenfu Xu;Lei Yan;Bin Liang

{"title":"Decoupling Design and Fast Kinematics Resolving Method for Cable-Driven Segmented Manipulator","authors":"Taiwei Yang;Junxiang Li;Wenfu Xu;Lei Yan;Bin Liang","doi":"10.1109/TSMC.2025.3554591","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3554591","url":null,"abstract":"A cable-driven segmented manipulator (CDSM) has considerable potential in narrow space operations because it has a slender and light body with flexible mobility. However, the existing CDSM segment driving mechanisms are coupled to each other. The driving distance of the rear segment cable is superimposed with that of the front segment cable, which renders the cables’ drive distance inconsistent. Moreover, the system kinematics, dynamics, and control become extremely complex. In this article, a novel decoupling driving mechanism is proposed to solve the coupling problem, simplifying the modeling and control of the CDSM. The routing of the driving cable is designed based on the characteristics of the symmetrical offset (i.e., the same magnitude but opposite in direction) of the cable length applicable to joints with one and two degrees of freedom. By modifying the direction of the driving cable in the middle of the proximal segment, the driving cable length of the distal segment is unaffected by the change of the angle of the front segment. Moreover, to increase the drive stroke, a multiturn winding mechanism is designed, reducing the volume and mass of the driving box. Accordingly, an improved forward and backward reaching inverse kinematics is proposed for CDSM based on virtual joints. Compared with the Jacobian pseudo-inverse method, the computational efficiency is improved. Finally, the proposed mechanisms and methods are verified via a CDSM prototype. The results indicate that the proposed manipulator compared with typical manipulators has larger movement range, higher end velocity, and guaranteed accuracy due to the proposed decoupled driving and fast kinematics resolution.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 7","pages":"4670-4683"},"PeriodicalIF":8.6,"publicationDate":"2025-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144308295","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