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...
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...
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...
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 ...
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...
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...
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...
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...
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...
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...
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...
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...
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 ...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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 ...
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...
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 ...
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...
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 ...
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...
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 ...
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