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- Distributed adaptive fixed-time formation control for UAV-USV heterogeneous multi-agent systems
- OCEAN ENGINEERINGLiu, Haitao Weng, Peijun Tian, Xuehong Mai, Qingqun 出版年：2023
- This paper investigates formation trajectory tracking control for heterogeneous multi-agent systems with external disturbances, model uncertainties and input saturation. The system that is considered comprises one unmann...
- Robust trajectory tracking control of marine surface vessels with uncertain disturbances and input saturations
- NONLINEAR DYNAMICSLiu, Haitao Chen, Guangjun 出版年：2020
- In this paper, a novel robust trajectory tracking control law is proposed for marine surface vessels with uncertain disturbances and input saturations using a tan-type barrier Lyapunov function and a backstepping techniq...
- Robust fixed-time H∞ tracking control of UUVs with partial and full state constraints and prescribed performance under input saturation
- Ocean EngineeringLiu, Haitao Qi, Zhenghong Yuan, Jianbin Tian, Xuehong 出版年：2023
- In this paper, a fixed-time tracking control problem for an unmanned underwater vehicle (UUV) is investigated in the case of strong external sudden disturbances, model uncertainty, time-varying disturbances and specified...
- Predefined-Time Prescribed Performance Second-Order Sliding Mode Path Following Control for Underactuated Marine Surface Vehicles with Using Self- Structuring Nn
- SSRNLiu, Haitao Zhou, Xuecheng Tian, Xuehong Mai, Qingqun Sun, Ning 出版年：2023
- This paper proposes a predefined time-prescribed performance second-order sliding mode path following controller for underactuated marine surface vehicles (MSVs) with unknown external environmental disturbances based on ...
- Adaptive Dynamic Threshold Event-Triggered Fixed-Time Control for Multiple Uncertain Robotic Manipulators With Position Constraints
- International Journal of Robust and Nonlinear ControlYang, Zhou Zhang, Xiaoguang Liu, Haitao 出版年：2026
- In this paper, an adaptive dynamic threshold event-triggered fixed-time control is proposed for multiple uncertain robotic manipulators with position constraints on the basis of a dynamic gain function. First, a novel dy...
- Fixed-time composite robust H∞ tracking control of marine surface vessels based on the barrier Lyapunov function and an event-triggered strategy
- Ocean EngineeringWang, Zhicheng Tian, Xuehong Mai, Qingqun Liu, Haitao 出版年：2022
- This paper studies the fixed-time composite robust tracking control problem of a class of marine surface vessel (MSV) systems with uncertainty items and external disturbances. First, the tracking error is restricted with...
- Robust finite-time consensus control for multi-agent systems with disturbances and unknown velocities
- ISA TRANSACTIONSTian, Xuehong Liu, Huanlao Liu, Haitao 出版年：2018
- In this paper, we investigated the finite-time consensus tracking problem for multi-agent systems with external bounded disturbances and input bounded disturbances and unknown velocities. Based on the Lyapunov finite-tim...
- Distributed Adaptive Fixed-Time Formation Control for Uav-Usv Heterogeneous Multi-Agent Systems
- SSRNLiu, Haitao Weng, Peijun Mai, Qingqun Tian, Xuehong 出版年：2022
- This paper investigates formation trajectory tracking control for heterogeneous multi-agent systems with external disturbances, model uncertainties and input saturation. The considered system comprises one unmanned aeria...
- Neural network-based prescribed performance adaptive finite-time formation control of multiple underactuated surface vessels with collision avoidance
- JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICSLin, Jianfei Liu, Haitao Tian, Xuehong 出版年：2022
- In this paper, a leader-follower formation control scheme of multiple underactuated surface vessels (USVs) is proposed for trajectory tracking, which not only solves the line of sight (LOS) and angle tracking errors with...
- Robust Fixed-Time H∞ Trajectory Tracking Control for Marine Surface Vessels Based on a Self-Structuring Neural Network
- Computational Intelligence and NeuroscienceTian, Xuehong Wang, Zhicheng Yuan, Jianbin Liu, Haitao 出版年：2022
- In this study, a robust fixed-time H∞ trajectory tracking controller for marine surface vessels (MSVs) is proposed based on self-structuring neural network (SSNN). First, a fixed-time H∞ Lyapunov stability theorem is pro...
- Cooperative formation control for multiple surface vessels based on barrier Lyapunov function and self-structuring neural networks
- OCEAN ENGINEERINGLiu, Haitao Chen, Guangjun Tian, Xuehong 出版年：2020
- This paper studies the cooperative formation control problem of multiple surface vessels based on the barrier Lyapunov function and self-structuring neural networks with uncertainties and unknown disturbances. To constra...
- Finite-Time Prescribed Performance Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles Based on a Tan-Type Barrier Lyapunov Function
- IEEE ACCESSLiu, Haitao Meng, Bingxin Tian, Xuehong 出版年：2022
- This paper proposed a finite-time prescribed performance control scheme for underactuated autonomous underwater vehicles (AUVs) based on adaptive neural networks and a tan-type barrier Lyapunov function. Even in the pres...
- Finite-time self-structuring neural network trajectory tracking control of underactuated autonomous underwater vehicles
- OCEAN ENGINEERINGLiu, Haitao Zhuo, Jiaoyang Tian, Xuehong Mai, Qingqun 出版年：2023
- A finite-time self-structuring neural network (SSNN) trajectory tracking control scheme is proposed for an input constrained underactuated autonomous underwater vehicle (AUV) with unknown external disturbances. First, a ...
- Robust Finite-time Convergent Trajectory Tracking Control for Unmanned Surface Vehicle
- Proceedings - 2019 Chinese Automation Congress, CAC 2019Liu, Haitao Zou, Lanping 出版年：2019
- This paper proposed a robust finite-time convergent trajectory tracking control method for unmanned surface vehicle (USV) with dynamic model parameter uncertainties and disturbances of the external marine environment. Fi...
- Observer-based adaptive second-order non-singular fast terminal sliding mode controller for robotic manipulators
- ASIAN JOURNAL OF CONTROLLiu, Haitao Sun, Jian Nie, Jianhao Zou, Lanping 出版年：2021
- In this paper, a second-order non-singular fast terminal sliding mode controller is proposed for robotic manipulators in the presence of uncertainties and disturbances. Adaptive control is used to obtain robustness to sy...
- Robust trajectory tracking control of a marine surface vessel using asymmetric error constraints and output feedback
- INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROLChen, Guangjun Tian, Xuehong Liu, Haitao 出版年：2020
- This article investigates the problem of robust trajectory tracking for a marine surface vessel in the presence of asymmetrical error time-varying constraints and output feedback. To deal with system uncertainties, adapt...
- Adaptive non-singular terminal sliding mode control with high-gain observers for robotic manipulators
- Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019Liu, Haitao Sun, Jian Nie, Jianhao Chen, Guangjun Zou, Lanping 出版年：2019
- In this paper, an adaptive non-singular terminal sliding mode controller is proposed for robotic manipulators in the presence of uncertainties and disturbances. The adaptive control is used to obtain robustness to system...
- Robust Finite-Time Stability Control of a Class of High-Order Uncertain Nonlinear Systems
- ASIAN JOURNAL OF CONTROLLiu, Haitao Wang, Xiaozhen Zhang, Tie 出版年：2015
- In this study, a novel robust finite-time stability controller is proposed for a class of high-order uncertain nonlinear systems. It uses the dynamic surface control (DSC) approach to simplify the traditional backsteppin...
- Robust tracking control for Robotic Manipulators based on Super-twisting Algorithm
- IOP Conference Series: Materials Science and EngineeringJaved, Muhammad Umer Liu, Haitao Nie, Jianhao Sun, Jian 出版年：2019
- Robotic manipulators are broadly used in industries for different kinds of specialized operational responsibilities and it is very complicated to design of a robust and stable controller for these systems. The performanc...
- Event-triggered predefined-time H? formation control for multiple underactuated surface vessels with error constraints and input quantization
- OCEAN ENGINEERINGLiu, Haitao Li, Yongzhuo Tian, Xuehong Mai, Qingqun 出版年：2023
- In this paper, an event-triggered predefined-time H infinity formation control strategy is proposed for multiple underactuated surface vessels (USVs) with error constraints and input quantization. A modified asymmetric b...
- Leader-follower cooperative control of multiple marine surface vehicles with unknown disturbances
- Proceedings - 2019 Chinese Automation Congress, CAC 2019Chen, GuangJun Liu, HaiTao 出版年：2019
- This article investigates the leader-follower cooperative control of multiple marine surface vehicles with unknown disturbances induced ocean environment. A nonlinear observer is developed to estimate unknown time-varyin...
- Distributed Prescribed Performance Formation Control for UAV-USV System Based on FEWNN
- Proceedings of the 37th Chinese Control and Decision Conference, CCDC 2025Huang, Huiting Tian, Xuehong Mai, Qingqun Liu, Haitao 出版年：2025
- This paper focuses on the trajectory tracking problem of a heterogeneous multiagent system consisting of multiple unmanned aerial vehicles (UAVs) and multiple unmanned surface vessels (USVs). A novel control method is de...
- Adaptive sliding Mode Control for Nonholonomic Mobile Robots based on Neural Networks
- Proceedings of the 31st Chinese Control and Decision Conference, CCDC 2019Liu, Haitao Nie, Jianhao Sun, Jian Chen, Guangjun Zou, Lanping 出版年：2019
- To improve the tracking precision of mobile robots with unknown disturbances, an adaptive sliding mode control method with stronger robustness is proposed based on the neural networks. A new control law is designed, in w...
- Finite-time fast nonsingular terminal sliding mode path-following control for underactuated marine surface vehicles with input saturation
- OCEAN ENGINEERINGLiu, Haitao Sun, Ning Ren, Gang 出版年：2022
- In this paper, a finite-time fast nonsingular terminal sliding mode (FNTSM) control method based on predictive line-of-sight (LOS) guidance is designed for path-following control of marine surface vehicles (MSVs) in the ...
- Observer-Based Fixed-Time Coordinated Control for Uncertain Nonlinear Multi-agent Systems
- 2021 4th International Conference on Mechatronics, Robotics and Automation, ICMRA 2021Liu, Haitao Huang, Xin 出版年：2021
- In this article, the fixed-time coordinated control problem is solved in terms of uncertain nonlinear multi-agent systems without leader's velocity measurements. Firstly, an innovative leader state observer in absence of...
- High-precision position predictive control of mobile robot based on LSTM algorithm
- Proceedings - 2020 Chinese Automation Congress, CAC 2020Du, Guangshuo Liu, Haitao Tian, Xuehong 出版年：2020
- In this paper, a high precision position predictive control of mobile robot is proposed based on LSTM (Long short term memory) deep learning neural network algorithm. The structure-based error back-propagation algorithm ...
- Adaptive predefined-time specific performance control for underactuated multi-AUVs: An edge computing-based optimized RL method
- OCEAN ENGINEERINGLiu, Haitao Feng, Zhijian Tian, Xuehong Mai, Qingqun 出版年：2025
- In this paper, an optimal control strategy with predefined time-adaptive dynamic programming with a dual-layer structure consisting of a trajectory analysis rule layer and an optimal control rule layer is proposed for so...
- Finite-time H∞ control for marine surface vessel trajectory tracking with uncertainty and disturbance based on second-order sliding mode observer
- Proceeding - 2021 China Automation Congress, CAC 2021Liu, HaiTao Wang, ZhiCheng 出版年：2021
- In this article, the trajectory tracking control problem of marine surface vessels (MSV) with uncertainties and time-varying disturbances is investigated. A robust adaptive trajectory tracking control scheme is proposed ...
- Event-triggered-based fixed-time tracking control with prescribed performance for an underactuated vessel
- Proceedings - 2022 Chinese Automation Congress, CAC 2022Liu, Haitao Li, Yongzhuo 出版年：2022
- In this paper, the trajectory tracking control approach for underactuated surface vessels with an off-diagonal inertia matrix is investigated. For the problem with off-diagonal matrix in the model parameters, the coordin...
- FESO-Based Line-of-Sight Guidance Law for Path Following of Unmanned Surface Vehicles with Environmental Disturbances
- Proceeding - 2021 China Automation Congress, CAC 2021Sun, Ning Ren, Gang Liu, Haitao 出版年：2021
- This paper proposes a filter extended state observer (FESO) based integral line-of-sight (LOS) control law for unmanned surface vehicle path following control system. The filtered extended state observer is developed to ...
