IEEE Transactions on Automation Science and Engineering最新文献

{"title":"Adaptive Predefined-Time Safety Learning Control for Switched Multi-Agent Systems: An Advanced Encryption Self-Triggered Algorithm","authors":"Shiyu Xie;Wei Sun","doi":"10.1109/TASE.2025.3615563","DOIUrl":"10.1109/TASE.2025.3615563","url":null,"abstract":"This study develops an advanced self-triggered predefined-time safety learning control algorithm for switched multi-agent systems with full-state mask. To strengthen encryption while reducing the impact to system performance, an improved settling time privacy preservation mechanism based on the full-state mask function is designed, which encrypts the true information of the system and enhances the privacy of information delivery. Unlike traditional learning control schemes, a novel actor-critic weight update law is designed to guarantee that the system energy cost is minimized resulting in predefined time optimization. Besides, an improved self-triggered condition with a compensation term is developed to overcome the complex challenges posed by full-state privacy preservation mechanism. It not only eliminates the necessity to continually monitor the triggered state of the system but also saves communication resources. Finally, the validity of the designed control scheme can be proven by a simulation experiment. Note to Practitioners—This paper is motivated by designing a self-triggered predefined-time optimal control method for switched multi-agent systems with full-state mask. As artificial intelligence continues to develop, information security and resource waste have become key problems in practical applications, such as smart grids and autonomous vehicles. In this study, we develop privacy preservation mechanism and optimal control strategy that minimize energy cost to overcome the above challenges. It is worth noting that the UAV swarm switches between different modes to adapt to different environments during the mission. With the help of a self-triggered algorithm, the photovoltaic inverter calculates the next control moment in advance to avoid continuous sampling during sudden changes in light thereby saving communication resources. Additionally, the predefined time control method is characterized by its fast and accurate convergence, which makes it widely used in fields such as missile guidance and rehabilitation robots.","PeriodicalId":51060,"journal":{"name":"IEEE Transactions on Automation Science and Engineering","volume":"22 ","pages":"21990-22002"},"PeriodicalIF":6.4,"publicationDate":"2025-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145188369","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Design and Control of a Novel Multi-Mode Aerial Ground Robot With Variable Configuration","authors":"Kun Xu;Haoyuan Liu;Pengfei Lu;Jiawei Chen;Tao Zhang;Xilun Ding","doi":"10.1109/TASE.2025.3615470","DOIUrl":"10.1109/TASE.2025.3615470","url":null,"abstract":"The mobile robots possess immense application potential in planetary exploration, field investigation and other related fields. Adopting suitable movement modes in multiplex task scenarios and flexible modes transformations significantly enhance the flexibility and mobility efficiency of robots. Therefore, a novel multi-modal mobile robot with various ground and aerial movement modes is proposed. Notably, different modes transformation and aerial manipulation can be smoothly performed during aerial maneuvers, thereby improving the deployment efficiency of robots. Firstly, the proposed multi-modal robot achieves high-integration and high-mobility efficiency in all modes through the iterative optimization design. Subsequently, a comprehensive hybrid dynamic model of the robot is established. Based on the dynamic model, the leg motion trajectory during the aerial transformation is planned by optimizing the coupling torque, minimizing the motion’s interference on the flight system. Additionally, controllers for various movement modes are designed, including a novel flight controller based on the trajectory linearization control (TLC) method with an extended state observer (ESO), compensating for the time-varying inertial parameters of the robot and coupling or external disturbances, improving the agility and stability of the system in aerial. Finally, the practicability and effectiveness of robot’s multi-modal mobility, modes transformations and aerial manipulation are validated through simulations and real-world experiments. Note to Practitioners—Mobile robots are playing an increasingly significant role in industrial production, as demonstrated by their use in inspection and transportation. However, industrial environments often feature three-dimensional obstacles and uneven surfaces, which place high demands on robot adaptability. Although multi-modal mobile robots can enhance environmental adaptability, current solutions are limited by inflexible mode transitions and reduced functionality (e.g., manipulation). In response, we propose a novel multi-modal mobile robot that integrates both ground and aerial modes. To mitigate the adverse effects of dynamic variations and coupling force disturbances, comprehensive system dynamics model is established. A trajectory optimization-based approach combined with a novel nonlinear flight controller is then employed to compensate for these disturbances, thereby enabling seamless aerial transitions and agile aerial manipulation through leg-arm reuse.","PeriodicalId":51060,"journal":{"name":"IEEE Transactions on Automation Science and Engineering","volume":"22 ","pages":"21864-21879"},"PeriodicalIF":6.4,"publicationDate":"2025-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145188363","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Resilient Asynchronous Sampled-Data Control for Markov Jump Systems Under DoS Attacks: A Discontinuous Interval-Dependent Lyapunov Functional","authors":"Lan Yao;Xia Huang;Zhen Wang;Min Xiao","doi":"10.1109/TASE.2025.3615233","DOIUrl":"10.1109/TASE.2025.3615233","url":null,"abstract":"This article investigates the security control problem of Markov jump systems (MJSs) under denial of service (DoS) attacks by constructing a class of discontinuous interval-dependent functional. Motivated by 1) the enhanced practicality and flexibility of multi-sensor sampled-data control with asynchronous packet arrivals and 2) the destabilizing impact of DoS-induced data loss, a resilient asynchronous sampled-data control (RASDC) scheme is designed. RASDC can send data once immediately after the attack, thereby alleviating the performance degradation caused by long-term no input. Furthermore, by utilizing the stability analysis idea of switched systems, a discontinuous interval-dependent functional is constructed, which combines the information of the resilient sampling interval and the attack interval. To overcome the analytical challenges posed by its discontinuities, the discrete-time Lyapunov stability theory, convex combination techniques, and some estimation methods are used to derive the sufficient condition for mean square asymptotic stability. In light of the stability criterion, a design algorithm for the secure controller is provided. Finally, simulation results demonstrate the effectiveness of the proposed approach. Note to Practitioners—In smart grid and power distribution systems, communication between remote sensors (e.g., voltage, current, and fault detectors) and controllers is often vulnerable to cyber threats such as DoS attacks. These attacks disrupt the timely of critical data, posing serious risks to system stability and performance. To address this challenge, a resilient asynchronous sampled-data control scheme is proposed. The scheme provides a practical solution to ensure stability in MJSs, even in the presence of data loss caused by DoS attacks. Theoretical tools such as discontinuous interval-dependent functionals and switched system stability analysis are employed to guide controller design, and the final outcome is an implementable control algorithm. The proposed method can be applied to enhance the security of industrial control systems, and it is well-suited for integration into modern power automation infrastructures to improve cyber-physical resilience.","PeriodicalId":51060,"journal":{"name":"IEEE Transactions on Automation Science and Engineering","volume":"22 ","pages":"21925-21935"},"PeriodicalIF":6.4,"publicationDate":"2025-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145188370","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Adaptive Sub-Nanometer Control of a Piezoelectric Positioning Platform","authors":"Siyuan Meng, Jiankang Jiang, Qian Ju, Yong Wang, Dongmei Wu, Wei Dong, Ming Pang, Junhui Zhu, Changhai Ru","doi":"10.1109/tase.2025.3615572","DOIUrl":"https://doi.org/10.1109/tase.2025.3615572","url":null,"abstract":"","PeriodicalId":51060,"journal":{"name":"IEEE Transactions on Automation Science and Engineering","volume":"105 1","pages":""},"PeriodicalIF":5.6,"publicationDate":"2025-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145188362","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Hybrid Control Strategies for Mitigating Covert Malware Spread in Heterogeneous Networks","authors":"Baihao Peng, Junfeng Liu, Jun Zeng","doi":"10.1109/tase.2025.3614747","DOIUrl":"https://doi.org/10.1109/tase.2025.3614747","url":null,"abstract":"","PeriodicalId":51060,"journal":{"name":"IEEE Transactions on Automation Science and Engineering","volume":"21 1","pages":""},"PeriodicalIF":5.6,"publicationDate":"2025-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145188366","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Modular Acoustic Graph SLAM for Underwater Monitoring With Autonomous Underwater Vehicles","authors":"Marta Real;Pau Vial;Roger Pi;Narcís Palomeras;Marc Carreras","doi":"10.1109/TASE.2025.3615829","DOIUrl":"10.1109/TASE.2025.3615829","url":null,"abstract":"This work was developed under the need for an acoustic localization system to monitor marine protected areas (MPAs) with the help of autonomous underwater vehicles (AUVs). Although the use of acoustic signals for underwater localization has been previously studied, most of the solutions rely on filter-based optimization, which is prone to linearization problems in long-term applications. Instead, we implemented a Modular Acoustic Graph Simultaneous Localization and Mapping (SLAM) algorithm that, using a factor graph framework, tracks acoustic beacons with either ranges or bearings. In addition, we developed several novel methods, like a delayed-position update for ultra-short baseline (USBL) position factor integration process, an initialization algorithm for acoustic landmarks, and the creation of a new 3D bearing factor that combines two angles. After developing the algorithm, field experiments were carried out in different areas on the coast of Catalonia. Besides the localization, some monitoring tasks were also tested, such as visual mapping of localized landmarks or optical transmission of data with seafloor stations, which helped validate the accuracy of the acoustic localization system. The results of such experiments are presented and discussed. Note to Practitioners—Autonomous robots can benefit underwater monitoring of deep areas. Our work presents a direct application of such robots, which use acoustic signals to localize underwater elements, like monitoring stations in the seafloor equipped with acoustic modems, and interact with them. The navigation is computed using a graph-based approach and can use either range or bearing information for the acoustic localization. The experiments in real scenarios are executed using preplanned trajectories, and the results prove that this system is able to localize acoustic targets within low uncertainty. The next step would be the implementation of path-planning strategies to optimize the localization process.","PeriodicalId":51060,"journal":{"name":"IEEE Transactions on Automation Science and Engineering","volume":"22 ","pages":"21770-21783"},"PeriodicalIF":6.4,"publicationDate":"2025-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145188371","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Observer-Based Compensation Control for Nonlinear Interconnected Power Systems With Load Disturbances and Actuator Faults","authors":"Bin Guo;Songyi Dian;Ben Niu;Yuqi Zhu;Tao Zhao","doi":"10.1109/TASE.2025.3615193","DOIUrl":"10.1109/TASE.2025.3615193","url":null,"abstract":"In this article, in the occurrence of load disturbances and internal actuator faults, exact performance compensation problem for nonlinear interconnected power systems (NIPSs) integrated with wind farms is solved by presenting an observer-based sliding mode control strategy. Concretely, a dynamic event condition in the sensor channel is designed by virtue of triggered output error and a dynamic threshold. With the help of event outputs and neural networks (NNs) technology, a composite observer is proposed to perform state, disturbance, and fault estimations of the power system simultaneously. By utilizing the variable estimations, a novel sliding mode manifold is designed and an observer-based controller is derived directly. Intuitively, the compensation action is triggered once the unknown variables of the NIPSs are estimated, thereby the disturbance rejection and fault tolerance can be achieved. A prominent benefit of the presented strategy is that the estimation convergence ability of the observer is proved independently, then the relationship between the observer and controller for the NIPSs can be relaxed. The control ability is analyzed within a <inline-formula> <tex-math>$H_{infty } $ </tex-math></inline-formula> performance through the Lyapunov theory. Simulation results for the two area NIPSs and comparisons on the recent achievements of the NIPSs are made, the results show that more than ten percent improvements can be realized compared with the recent control methods, which in return demonstrate the compensation performance of the presented control strategy. Note to Practitioners—This study is motivated by achieving the safety compensation control for nonlinear interconnected power systems (NIPSs) with actuator faults and unknown load disturbances. With the improvement of automation, the safety compensation control scheme has been applied to many critical fields, such as large scale power system, reactor process, and so on. However, the measured value of the instrument may not be fully achieved, thus causing some variables cannot be obtained directly. Furthermore, modern industrial systems are inherently vulnerable to unexpected load variations and actuator faults, which could degrade control precision and operational integrity. Compounding these challenges, bandwidth-constrained communication architectures persistently impose critical bottlenecks on control signal transmission efficiency. In view of the unknown variables, the threat of actuator faults and disturbances for the NIPSs, an observer-event-based compensation control strategy is proposed to deal with the above challenges.","PeriodicalId":51060,"journal":{"name":"IEEE Transactions on Automation Science and Engineering","volume":"22 ","pages":"21913-21924"},"PeriodicalIF":6.4,"publicationDate":"2025-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145188372","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"An Ultrasound-Guided Real-Time Automatic Navigation Framework for Magnetic Guidewire Robots to Improve Interventional Surgery","authors":"Shixiong Fu, Jun Luo, Zhiqiang Chen, Jia Liu, Guoyao Ma, Mingxue Cai, Sheng Xu, Qianbi Peng, Wenhao Ju, Xiangbin Pan, Tiantian Xu","doi":"10.1109/tase.2025.3615271","DOIUrl":"https://doi.org/10.1109/tase.2025.3615271","url":null,"abstract":"","PeriodicalId":51060,"journal":{"name":"IEEE Transactions on Automation Science and Engineering","volume":"5 1","pages":""},"PeriodicalIF":5.6,"publicationDate":"2025-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145188374","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Autonomous Local Navigation of Spring-Based Continuum Choledochoscopes for Cholecystolithotomy","authors":"Jie Wang, Hee Guan Khor, Yingni Wang, Xueling Wei, Yihua Sun, Yiguang Yang, Xu Lu, Longfei Ma, Hongen Liao","doi":"10.1109/tase.2025.3615597","DOIUrl":"https://doi.org/10.1109/tase.2025.3615597","url":null,"abstract":"","PeriodicalId":51060,"journal":{"name":"IEEE Transactions on Automation Science and Engineering","volume":"70 1","pages":""},"PeriodicalIF":5.6,"publicationDate":"2025-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145188373","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Practical Finite-Time Contraction of Impulsive Systems With Application to Design of Impulsive Control for PFTC","authors":"Bin Liu, Ming-Han Jiang, Ling Li, Dong-Nan Liu","doi":"10.1109/tase.2025.3610668","DOIUrl":"https://doi.org/10.1109/tase.2025.3610668","url":null,"abstract":"","PeriodicalId":51060,"journal":{"name":"IEEE Transactions on Automation Science and Engineering","volume":"1 1","pages":""},"PeriodicalIF":5.6,"publicationDate":"2025-09-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145188375","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}