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Trajectory Planning and High-Precision Motion Control of Excavators Based on Independent Metering Hydraulic Configuration 基于独立计量液压配置的挖掘机轨迹规划与高精度运动控制
IF 8.7 1区 计算机科学
IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-09-24 DOI: 10.1109/TSMC.2025.3611946
Junxiang Chen;Yujie Guo;Xiangdong Kong;Kelong Xu;Chao Ai
{"title":"Trajectory Planning and High-Precision Motion Control of Excavators Based on Independent Metering Hydraulic Configuration","authors":"Junxiang Chen;Yujie Guo;Xiangdong Kong;Kelong Xu;Chao Ai","doi":"10.1109/TSMC.2025.3611946","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3611946","url":null,"abstract":"This study investigates the trajectory optimization and high-precision motion control of excavators based on an independent metering hydraulic system. Considering both operational efficiency and motion smoothness, we propose a motion control method for excavator manipulators based on time-energy-jerk integrated optimal trajectory planning. The nondominated sorting genetic algorithm II (NSGA-II) algorithm is used to optimize interpolated trajectory based on five-time B-splines in the joint space. To ensure that excavators can accurately execute the planned optimal trajectory, the corresponding arms must be controlled with high precision. The oil inlet flow and the oil return pressure controllers are designed based on the independent metering hydraulic system. The flow controller is designed based on time-logarithmic barrier Lyapunov function to determine the virtual control rate and uses the Levant filter for filtering. The corresponding error transformations are employed to avoid the problem of the explosion of complexity in the traditional backstepping controller designs while ensuring that transient behavior of system tracking errors remains within specified boundaries. The uncertain components and nonlinear functions in the manipulator system are approximated by neural network (NN). Additionally, the pressure controller is used to keep the oil return pressure low to reduce system’s energy consumption. Finally, comparative simulations are conducted to verify the superiority of the proposed controller.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 11","pages":"8689-8700"},"PeriodicalIF":8.7,"publicationDate":"2025-09-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145335256","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
Reciprocal-Type Zeroing Neural Dynamics Model for Tackling Time-Dependent Lyapunov Matrix Equation Problems and Applications 处理时变李雅普诺夫矩阵方程问题的往复式归零神经动力学模型及其应用
IF 8.7 1区 计算机科学
IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-09-23 DOI: 10.1109/TSMC.2025.3611700
Pengfei Guo;Yunong Zhang;Min Yang;Zheng-An Yao;Shuai Li
{"title":"Reciprocal-Type Zeroing Neural Dynamics Model for Tackling Time-Dependent Lyapunov Matrix Equation Problems and Applications","authors":"Pengfei Guo;Yunong Zhang;Min Yang;Zheng-An Yao;Shuai Li","doi":"10.1109/TSMC.2025.3611700","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3611700","url":null,"abstract":"Time-dependent Lyapunov matrix equation (TDLME) plays a central role in the control of linear and nonlinear systems. Existing models, including the classical zeroing neural dynamics (ZNDs) model and its variants, have been used to address the TDLME problem. However, those models require time-dependent matrix inversion, which is computationally demanding, and they primarily focus on measurement-related noise, overlooking other sources of system uncertainty. To overcome these challenges, we propose an inverse-free reciprocal-type ZND (RTZND) model. This model integrates an energy-based error function with the ZND framework, eliminating the need for matrix inversion and incorporating error-feedback-related noise through its closed-loop control structure. We establish the convergence and robustness of the RTZND model using Lyapunov stability theory and assess its performance under external disturbances. Numerical simulations confirm its effectiveness and improved computational efficiency in solving the TDLME problem. We further confirm its applicability through two case studies, a time-dependent linear system and a nonlinear system modeled by the single machine infinite bus (SMIB) system, highlighting the RTZND model’s practical value in addressing TDLME problems.","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 11","pages":"8715-8728"},"PeriodicalIF":8.7,"publicationDate":"2025-09-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145335279","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
Thank You for Your Authorship 谢谢你的作者
IF 8.7 1区 计算机科学
IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-09-19 DOI: 10.1109/TSMC.2025.3606176
{"title":"Thank You for Your Authorship","authors":"","doi":"10.1109/TSMC.2025.3606176","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3606176","url":null,"abstract":"","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 10","pages":"7010-7010"},"PeriodicalIF":8.7,"publicationDate":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11173428","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145090235","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","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 8.7 1区 计算机科学
IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-09-19 DOI: 10.1109/TSMC.2025.3604199
{"title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems Publication Information","authors":"","doi":"10.1109/TSMC.2025.3604199","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3604199","url":null,"abstract":"","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 10","pages":"C2-C2"},"PeriodicalIF":8.7,"publicationDate":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11173518","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145100380","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","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 Information for Authors IEEE系统、人与控制论汇刊：作者的系统信息
IF 8.7 1区 计算机科学
IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-09-19 DOI: 10.1109/TSMC.2025.3604203
{"title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems Information for Authors","authors":"","doi":"10.1109/TSMC.2025.3604203","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3604203","url":null,"abstract":"","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 10","pages":"C4-C4"},"PeriodicalIF":8.7,"publicationDate":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11173429","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145100336","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
TechRxiv: Share Your Preprint Research With the World! techxiv：与世界分享你的预印本研究！
IF 8.7 1区 计算机科学
IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-09-19 DOI: 10.1109/TSMC.2025.3604195
{"title":"TechRxiv: Share Your Preprint Research With the World!","authors":"","doi":"10.1109/TSMC.2025.3604195","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3604195","url":null,"abstract":"","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 10","pages":"7008-7008"},"PeriodicalIF":8.7,"publicationDate":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11173270","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145100349","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","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 8.7 1区 计算机科学
IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-09-19 DOI: 10.1109/TSMC.2025.3604187
{"title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems Publication Information","authors":"","doi":"10.1109/TSMC.2025.3604187","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3604187","url":null,"abstract":"","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 10","pages":"C2-C2"},"PeriodicalIF":8.7,"publicationDate":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11173272","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145100309","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","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 Information for Authors IEEE系统、人与控制论汇刊：作者的系统信息
IF 8.7 1区 计算机科学
IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-09-19 DOI: 10.1109/TSMC.2025.3604211
{"title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems Information for Authors","authors":"","doi":"10.1109/TSMC.2025.3604211","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3604211","url":null,"abstract":"","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 10","pages":"C4-C4"},"PeriodicalIF":8.7,"publicationDate":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11173516","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145090118","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
IEEE Systems, Man, and Cybernetics Society Information IEEE系统、人与控制论学会信息
IF 8.7 1区 计算机科学
IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-09-19 DOI: 10.1109/TSMC.2025.3604201
{"title":"IEEE Systems, Man, and Cybernetics Society Information","authors":"","doi":"10.1109/TSMC.2025.3604201","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3604201","url":null,"abstract":"","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 10","pages":"C3-C3"},"PeriodicalIF":8.7,"publicationDate":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11173517","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145090120","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
IEEE Systems, Man, and Cybernetics Society Information IEEE系统、人与控制论学会信息
IF 8.7 1区 计算机科学
IEEE Transactions on Systems Man Cybernetics-Systems Pub Date : 2025-09-19 DOI: 10.1109/TSMC.2025.3604209
{"title":"IEEE Systems, Man, and Cybernetics Society Information","authors":"","doi":"10.1109/TSMC.2025.3604209","DOIUrl":"https://doi.org/10.1109/TSMC.2025.3604209","url":null,"abstract":"","PeriodicalId":48915,"journal":{"name":"IEEE Transactions on Systems Man Cybernetics-Systems","volume":"55 10","pages":"C3-C3"},"PeriodicalIF":8.7,"publicationDate":"2025-09-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=11173423","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145089944","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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