Zongyu Zuo

Zongyu Zuo
Beihang University (BUAA) | BUAA · School of Automation Science and Electrical Engineering

Doctor of Philosophy

About

159
Publications
27,270
Reads
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6,932
Citations
Citations since 2017
98 Research Items
6481 Citations
201720182019202020212022202302004006008001,0001,2001,400
201720182019202020212022202302004006008001,0001,2001,400
201720182019202020212022202302004006008001,0001,2001,400
201720182019202020212022202302004006008001,0001,2001,400
Additional affiliations
December 2020 - February 2021
Beihang University (BUAA)
Position
  • Professor (Full)
October 2015 - November 2015
Université Polytechnique Hauts-de-France
Position
  • Guest Researcher
September 2014 - September 2015
The University of Manchester
Position
  • Academic Visitor
Education
September 2005 - July 2011
Beihang University (BUAA)
Field of study
  • Control Theory and Applications
September 2001 - July 2005
Central South University
Field of study
  • Automation Science

Publications

Publications (159)
Article
This paper studies the interval consensus of multi-agent systems using sampled data. Specifically, all the agents come to a consensus inside a given interval, which is only available to a portion of agents. The network is characterized by a strongly connected directed topology. By considering generic saturations with heterogeneity and asymmetry, tw...
Article
The finite/fixed-time stabilization and tracking control is currently a hot field in various systems since the faster convergence can be obtained. By contrast to the asymptotic stability, the finite-time stability possesses the better control performance and disturbance rejection property. Different from the finite-time stability, the fixed-time st...
Article
A systematic differentiator-based adaptive backstepping control methodology is proposed for a class of sandwich-like nonlinear system with unknown state-dependent deadzone nonlinearity and parametric uncertainties. The novelty of our approach is that a high-order sliding mode differentiator is utilized to estimate the nonstrict feedback coupling te...
Article
Fixed-time and prescribed-time consensus control can bring an explicit estimate of the settling time without dependence on initial conditions, which is important in providing control engineers a priori system information. This paper aims at presenting a survey of recent trends and methodologies of fixed-time and prescribed-time consensus control in...
Article
Dear Editor, Dimensionality reduction (DR) plays a prominent role in the processing of hyperspectral imagery. Considering the high dimensionality of multiple features, this letter presents a new unsupervised DR method named multiview locally linear embedding (MLLE), which captures the local linearity and global nonlinearity of the data sufficiently...
Article
This paper discusses the fixed-time leader-following consensus problem for multiple uncertain nonholonomic systems, which are widely used in engineering models. According to our literature review, either the system is assumed to be known, or the uncertainty only contains state information, which does not meet the actual requirements. For this reaso...
Article
This paper studies affine formation control problem of general linear multi-agent systems (MASs) over undirected graph in the presence of time delays. Different delay conditions are considered and predictive observers are designed for the followers to predict the states in the future. Then, affine formation control laws are designed based on the pr...
Article
With the rapid development of computer technology, automatic control technology and communication technology, research on unmanned aerial vehicles (UAVs) has attracted extensive attention from all over the world during the last decades. Particularly due to the demand of various civil applications, the conceptual design of UAV and autonomous flight...
Article
This paper investigates the practical fixed-time event-triggered consensus problem of multi-agent nonholonomic systems with dynamic disturbances. The continuous communications can be avoided in the update of controller. By converting the nonholonomic chained systems into two subsystems, a switching control algorithm was proposed to deal with the co...
Article
The stratospheric airship, which is a new concept of autonomous atmospheric flight platforms, can operate over a period of time at very high altitudes to accomplish various military or commercial missions, such as monitoring, surveillance, and scientific exploration. The worldwide interest in stratospheric airships is still growing. However, modell...
Article
Full-text available
This paper considers the attitude tracking control problem for a rigid body. In order to avoid the complexity and ambiguity associated with other attitude representations (such as Euler angles or quaternions), the attitude dynamics and the proposed control system are represented globally on special orthogonal groups. An adaptive controller based on...
Article
Band selection, considered as an effective dimensionality reduction technique for hyperspectral imagery (HSI), has become a hot topic for decades. Although various clustering-based methods have been applied to band selection, only a few studies explored the hierarchical structure among different spectral bands. And with regard to conventional hiera...
Article
This paper studies the coordinated aggregation problem of a multi-agent system. Particularly, all the agents reach a consensus within a pre-specified target region. However, only a subset of agents have access to this target region, and each agent merely interacts with its neighbors by communication. Moreover, there exist unknown heterogeneous dela...
Article
Three-dimensional guidance laws are designed to intercept non-maneuvering targets and maneuvering targets in this paper. An optimal control approach with constant or time-variant feedback gain is proposed for interception. The cost function is designed with considerations on energy-efficiency and time-efficiency in the transient process. Lyapunov r...
Article
A fixed-time trajectory tracking control method for uncertain robotic manipulators with input saturation based on reinforcement learning (RL) is studied. The designed RL control algorithm is implemented by a radial basis function (RBF) neural network (NN), in which the actor NN is used to generate the control strategy and the critic NN is used to e...
Article
Full-text available
In this paper, fixed-time cooperative guidance laws are designed for multiple missiles to simultaneously attack a maneuvering target at desired terminal angles. The three-dimensional (3D) guidance commands consist of tangential acceleration along line-of-sight (LOS) direction to achieve a salvo attack and normal acceleration perpendicular to the LO...
Article
In this paper, a vision-based finite-time control is proposed for an unmanned aerial vehicle (UAV) subject to actuator saturation to track an uncooperative target. The finite-time control is designed within a backstepping-type framework, where states of the uncooperative target cannot be measured directly and are estimated by a monocular camera equ...
Article
This paper deals with the problem of intercepting maneuvering targets with terminal angle constraints for missiles subjected to three-dimensional non-decoupling engagement geometry. To achieve the finite-time interception and satisfactory overload characteristics, a time varying sliding mode control methodology is developed based on a time base gen...
Article
Considering the problem of intercepting a target at desired terminal angles in the three-dimensional (3D) space, this paper proposes a finite-time dual-layer guidance law with consideration of the second-order autopilot dynamics. The proposed guidance law owns a cascaded structure, which is divided into an outer system and an inner system. To achie...
Article
Full-text available
This article is concerned with both consensus and coordinated path-following control for multiple nonholonomic wheeled mobile robots. In the design, the path-following control is decoupled into the longitudinal control (speed control) and the lateral control (heading control) for the convenience of implementation. Different from coordinated traject...
Article
This paper addresses a non-unified super twisting sliding mode based guidance and control framework for the lateral path following of finless airship. Two loops strategy: outer guidance and inner control, is opted here. A nonlinear sliding surface based guidance law is designed that generates reference heading angle commands for the inner loop. The...
Article
Full-text available
This paper focuses on the position control problem for permanent magnet DC torque motor systems. An adaptive position tracking controller is proposed with online parameter adaptation. The position of the permanent magnet DC torque motor under the proposed strategy tracks the reference signal with fixed-time convergence. Different from previous fixe...
Preprint
Full-text available
To reduce the chattering and overestimation phenomena existing in classical adaptive sliding mode control, this paper presents a new class K_infinity function-based adaptive sliding mode control scheme. Two controllers are proposed in terms of concave and convex barrier functions to implement this kind of control methodology. To avoid large initial...
Article
This paper discusses the quasi-synchronous tracking control of multiple electro-hydraulic actuators (MEHA) with load disturbances and parametric uncertainties. Each electro-hydraulic actuator (EHA) has a third-order nonlinear dynamics in the presence of unknown lumped uncertainties resulting from some uncertain hydraulic parameters and external loa...
Article
Full-text available
This paper presents the passive vibration isolation problem for a specific kind of Stewart Platform called flexure jointed hexapod (FJH). For purpose of analyzing the relationship between passive vibration isolation and parameters of the FJH, an existing dynamic model of the hexapod is re-cast appropriately to obtain the transfer function matrix fr...
Article
This article addresses the robust fixed-time stabilization control problem for generic linear systems with both matched and mismatched disturbances. A new observer-based fixed-time control technique is proposed to solve this robust stabilization problem, provided that the system matrix pair (A,B) is controllable. The ultimate boundedness of the clo...
Article
With the development of digitization and intelligence of information technology, cyber attacks tend to be much more complicated and intelligent, which can disrupt the normal system operation if no any protection mechanism is implemented. Motivated by the security problem of industrial control system, we study secure estimation problem in which sens...
Article
This paper is concerned with bipartite consensus tracking for second-order multi-agent systems with signed directed graphs. A time-varying function based preset-time approach is proposed to realize the convergence in predetermined time. First, a class of time-varying functions with generalized properties are presented. Second, two time-varying func...
Article
Full-text available
To address the universal single-rod electrohydraulic system (EHS), a block-strict-feedback model is constructed for the position control loop design. Different from the previous strict-feedback controllers used in EHS, the proposed controller avoids the model order-reduction problem and relaxes the strict-feedback model assumption for the single-ro...
Article
Full-text available
This paper presents a distributed consensus observer for multi-agent systems with high-order integrator dynamics to estimate the leader state. Stability analysis is carefully studied to explore the convergence properties under undirected and directed communication, respectively. Using Lyapunov functions, fixed-time (resp. finite-time) stability is...
Article
A new practical fixed-time consensus framework for integrator-type multi-agent systems is developed by using a time base generator (TBG). For both leaderless and leader-following consensus, new TBG-based protocols are proposed for the multi-agent systems. The resulting settling time can be pre-designated without dependence on initial states. Differ...
Article
Full-text available
This paper is concerned with the fixed-time consensus problem of multiple chained-form systems under matched perturbations. In this study, the leader (which can be dynamic) only transmits its state and control input to its neighbors. For each agent, a decentralized observer is designed to estimate the leader state in a fixed-time. Contrary to finit...
Chapter
This chapter is concerned with fixed-time consensus tracking for second-order multi-agent systems in networks with directed topology. Nonlinear consensus protocols are constructed with the aid of a sliding surface for each double-integrator agent dynamics. In particular, the proposed method eliminates the singularity and the settling time is assign...
Chapter
This chapter addresses a fixed-time leader–follower consensus problem for high-order integrator multi-agent systems subject to matched external disturbances. A cascade control structure, based on a fixed-time distributed observer, is developed to achieve fixed-time consensus tracking control. A numerical example is given to illustrate the effective...
Chapter
This chapter is concerned with the distributed optimization of a multi-agent system with network connectivity preservation. In order to realize cooperative interactions, a connected network is the prerequisite for high-quality information exchange among agents. However, sensing or communication capability is range limited, so it is impractical to s...
Chapter
This chapter deals with the problem of distributed optimization for multi-agent systems by using an edge-based fixed-time consensus approach. In the case of time-invariant cost functions, a distributed protocol is proposed to achieve the state agreement in a fixed time while the sum of local convex functions known to individual agents are minimized...
Chapter
This chapter introduces some basic results of finite-time and fixed-time stability and stabilization. To illustrate these results, three interesting examples are first presented to give an insight into the key feature on a standard structure of finite-time and fixed-time stabilizations. Then formal definitions of finite-time and fixed-time stabilit...
Chapter
This chapter deals with the consensus tracking problem for a multi-agent system with nonholonomic chained-form dynamics. A distributed observer is first proposed for each follower to estimate the state and the input of the leader simultaneously in fixed-time under undirected communication graphs. Then, based on the observer and by adding a power in...
Chapter
This chapter addresses a fixed-time consensus problem for a multi-agent system in networks with undirected topology. A class of global continuous time-invariant consensus protocols is constructed for single-integrator agents. It is shown that the settling time of the proposed fixed-time consensus protocols is upper bounded for arbitrary initial con...
Article
In this paper, the fixed-time stabilization control problem for general linear systems with input delay is addressed. In addition to the Artstein–Kwon–Pearson reduction transformation, a pre-compensation control structure is established first to convert the original system into a single input delay-free linear system. Then, we show that the origin...
Article
The finite-time attitude control of quadrotor unmanned aerial vehicles (UAVs) subject to external disturbances with unknown bound is investigated in this paper. Firstly, an adaptive multi-variable finite-time stabilizing control algorithm for second-order multi-variable systems is developed based on the improved super-twisting and the equivalent co...
Book
This monograph presents new theories and methods for fixed-time cooperative control of multi-agent systems. Fundamental concepts of fixed-time stability and stabilization are introduced with insightful understanding. This book presents solutions for several problems of fixed-time cooperative control using systematic design methods. The book compare...
Article
Full-text available
The fixed-time stabilization of high-order integrator systems with both matched and mismatched disturbances is investigated. A continuous non-switching control law is designed based on the bi-limit homogeneous technique for arbitrary-order integrator systems. Combining with fixed-time disturbance observer, the proposed continuous control law for th...
Article
Full-text available
In this paper, the nonlinear robust control problem for tail-sitter aircraft in flight mode transitions is addressed. The problem is challenging due to the nonlinearities and uncertainties including parametric uncertainties, unmodeled uncertainties, and external disturbances involved in the vehicle dynamics during the mode transitions. The proposed...
Article
The fixed-time leader-following consensus problem is investigated for high-order multi-variable multi-agent systems with external disturbances. A new distributed observer is proposed for each follower under a directed information flow to estimate the leader state in a fixed time. Based on the observer, a novel tracking controller is designed such t...
Article
In this paper, a three dimensional (3-D) path-following control design for an underactuated stratospheric airship is proposed based on the parameterized path description. The desired attitude, velocity and the path parameter updating law are obtained by employing the guidance-based path-following (GBPF) principle. The resultant system possesses a c...
Article
Time delays exist in network-connected systems. Especially for vision-based multi-robot systems, time delays are diverse and complicated due to the communication network, camera latency, image processing, etc. At the same time, many tasks, such as searching and rescue, have timing requirement. This paper focuses on fixed-time formation control of m...
Article
This paper proposes a robust three-dimensional (3-D) path-following controller for an under-actuated stratospheric airship in the presence of uncertainties. The resultant control system exhibits an inner-outer loop control structure. In the outer control loop, the path-following error dynamics is constructed in a moving Serret-Frenet frame and a ne...
Article
This paper deals with the problem of distributed optimization of a multiagent system with network connectivity preservation. In order to realize cooperative interactions, a connected network is the prerequisite for high-quality information exchange among agents. However, sensing or communication capability is range-limited, so it is impractical to...
Article
In this paper, a nonlinear robust controller is proposed to deal with the flight mode transition control problem of tail-sitter aircrafts. During the mode transitions, the control problem is challenging due to the high nonlinearities and strong couplings. The tail-sitter aircraft model can be considered as a nominal part with uncertainties includin...
Article
In this paper, an adaptive backstepping control scheme is presented to solve the position control problem for a gear transmission servo system with unknown asymmetric sandwiched dead-zone nonlinearity. All the parameters involved in both system model and deadzone model are allowed to be totally unknown. In contrast to previous results where the eff...
Article
Fixed-time cooperative control is currently a hot research topic in multi-agent systems since it can provide a guaranteed settling time, which does not depend on initial conditions. Compared with asymptotic cooperative control algorithms, fixed-time cooperative control algorithms can achieve better closed-loop performance and disturbance rejection...
Article
A continuous multivariable uniform finite-time output feedback reentry attitude control scheme is developed for Reusable Launch Vehicle (RLV) with both matched and mismatched disturbances. A novel finite-time controller is derived using the bi-limit homogeneous technique, which ensures that the attitude tracking can be achieved in a uniformly bound...
Article
Full-text available
In this paper, we study output feedback leader-follower consensus problem for multiagent systems subject to external disturbances and time delays in both input and output. First, we consider the linear case and a novel predictor-based extended state observer is designed for each follower with relative output information of the neighboring agents. T...
Article
This paper addresses the fixed-time leader-follower consensus problem for second-order multiagent systems without velocity measurement. A new continuous fixed-time distributed observer-based consensus protocol is developed to achieve consensus in a bounded finite time fully independent of initial condition. A rigorous stability proof of the multiag...
Conference Paper
Full-text available
This paper studies the fixed-time tracking problem for chained-form nonholonomic systems under matched external disturbances. The proposed method is to construct a tracking controller such that the tracking errors converge to zero for any arbitrary initial tracking error at fixed-time. First of all, the resulting tracking error dynamics is transfor...
Article
This paper deals with the problem of distributed optimization for multiagent systems by using an edge-based fixed-time consensus approach. In the case of time-invariant cost functions, a new distributed protocol is proposed to achieve the state agreement in a fixed time while the sum of local convex functions known to individual agents is minimized...
Article
In this paper, an adaptive fault tolerant controller based on L1 control is developed and applied to the trajectory tracking for a quadrotor helicopter. Both multiplicative and additive actuator faults are considered. The proposed design is based on nonlinear feed-forward compensations and a typical nonlinear quadrotor model with uncertain inertial...
Article
In this paper, we study a robust L2 disturbance attenuation problem that arises when applying the Artstein-Kwon-Pearson reduction transformation for a class of uncertain Lipschitz nonlinear systems with input delay and external disturbances. A conventional predictor-based feedback controller is adopted with the control gain matrix carefully identif...
Article
This study studies the output tracking control of a class of sandwich-like systems with state-dependent deadzone non-linearity between two cascaded subsystems (e.g. the gear transmission systems). An exact differentiator-based backstepping control for such a sandwich-like non-linear system is proposed. The proposed controller utilises the high-orde...
Article
In this study, the authors propose a control structure for a class of linear time-invariant (LTI) systems with Lipschitz non-linearity and unknown time-varying input delay. This scheme considers the worst-case scenario in control design with truncated prediction feedback approach, and takes into account the information of the lower bound of delay i...
Article
This paper is concerned with the fixed-time coordinated tracking problem for a class of nonlinear multi-agent systems under detail-balanced directed communication graphs. Different from conventional finite-time coordinated tracking strategies, the fixed-time approach developed in this paper guarantees that a settling time bound is prescribed withou...
Article
The attitude control of quadrotor Unmanned Aerial Vehicle (UAV) is investigated. The aim of the paper is to develop a continuous multivariable attitude control law, which drives the attitude tracking errors of quadrotor UAV to zero in finite time. Firstly, a multivariable super-twisting-like algorithm (STLA) is proposed for arbitrary order integrat...
Article
This paper addresses the fixed-time leader-follower consensus problem for high-order integrator multi-agent systems subject to matched external disturbances. A new cascade control structure, based on a fixed time distributed observer, is developed to achieve the fixed-time consensus tracking control. A simulation example is included to show the eff...
Article
Full-text available
In this paper, we consider the leader-follower formation control problem for general multi-agent systems with Lipschitz nonlinearity and unknown disturbances. To deal with the disturbances, a disturbance observer-based control strategy is developed for each follower. Then, a time-varying formation protocol is proposed based on the relative state of...