Huiping Li

Northwestern Polytechnical University

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i-10 index

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Yang Shi

University of Victoria

Weisheng Yan

Northwestern Polytechnical University

Demin Xu

Northwestern Polytechnical University

Changxin Liu

KTH Royal Institute of Technology

Zhuo Zhang

Shenyang Agricultural University

Di Cui

Fuyang Normal University

Rongxin Cui

Northwestern Polytechnical University

Fei Li

Luoyang Institute of Science and Technology

Rizhong Wang

Northwestern Polytechnical University

Haojiao Liang

Northwestern Polytechnical University

Cooperative Institutions

Northwestern Polytechnical University

Chinese Academy of Sciences

Shanghai Jiao Tong University

Zhejiang University

Harbin Institute of Technology

University of Electronic Science and Technology of China

Tsinghua University

Peking University

Chinese Academy of Medical Sciences & Peking Union Medical College

Xi'an University of Architecture and Technology

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Observed-based fast fixed-time fault-tolerant trajectory tracking control with prescribed performance for unmanned underwater vehicles under constraints

Ocean Engineering (2025)

Hongtao Liang Junzhi Yu Huiping Li

Tracking (education)

Fixed wing

10.1016/j.oceaneng.2025.120304

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Citations (0)

Research status and development trend of bionic multi-legged mobile robot

2022 International Conference on Electronics and Devices, Computational Science (ICEDCS) (2022)

Huiping Li Hao Sun

Bionic multi-legged mobile robot has a wide application prospect because of its discrete ground support and strong adaptability to complex special terrain and unpredictable environment such as obstacles and ditches. This paper introduces the research status of bionic multi-legged mobile robot at home and abroad from three aspects of quadruped bionic mobile robot, hexapod bionic mobile robot, and eight-legged bionic mobile robot, and summarizes the key technologies of bionic multi-legged mobile robot from three aspects of gait planning method, stability criterion and motion control strategy. It is found that there are still some problems in the control system, drive system and body structure in the current research of bionic multi-legged mobile robot, which leads to a big gap between the functional characteristics of bionic multi-legged mobile robot and the imitated creature. This paper points out that the bionic multi-legged mobile robot is developing in the direction of intelligent control, bionic muscle driving, efficient energy supply and utilization, diversified functions, and new bionic materials, which lays a foundation for the further development of the bionic multi-legged mobile robot.

Hexapod

Legged robot

Adaptability

10.1109/icedcs57360.2022.00013

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Citations (2)

Receding Horizon Control Based Consensus Scheme in General Linear Multi-agent Systems

arXiv (Cornell University) (2014)

Huiping Li Weisheng Yan

This paper investigates the consensus problem of general linear multi-agent systems under the framework of optimization. A novel distributed receding horizon control (RHC) strategy for consensus is proposed. We show that the consensus protocol generated by the unconstrained distributed RHC can be expressed in an explicit form. Based on the resulting consensus protocol the necessary and sufficient conditions for ensuring consensus are developed. Furthermore, we specify more detailed consensus conditions for multi-agent system with general and one-dimensional linear dynamics depending on the difference Riccati equations (DREs), respectively. Finally, two case studies verify the proposed scheme and the corresponding theoretical results.

Source

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An Acoustic-Inertial Pose Estimation Method with Robust Feature Match and Graph Optimization

2022 13th Asian Control Conference (ASCC) (2022)

Bufang Li Weisheng Yan Huiping Li Lijun Zhang

High-accuracy pose estimate is necessary for underwater vehicle to perform tasks. In this paper, we present a novel pose-graph navigation system for underwater vehicle using forward-looking sonar (FLS) and inertial measurement unit (IMU). The proposed system first uses A-Kaze features to build an acoustic odometry by triangulation and then utilizes the acoustic structure from motion (AFSM) to obtain pose estimates. Next, all pose estimates are added to a pose graph, associated with inertial odometry measurements, to optimize the pose of the underwater vehicle. The effectiveness of the proposed method is verified via simulations in gazebo.

Odometry

Feature (linguistics)

Units of measurement

10.23919/ascc56756.2022.9828281

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Citations (1)

Towards an O(1/t) convergence rate for distributed dual averaging

IFAC-PapersOnLine (2020)

Changxin Liu Huiping Li Yang Shi

Recently, distributed dual averaging has received increasing attention due to its superiority in handling constraints and dynamic networks in multiagent optimization. However, all distributed dual averaging methods reported so far considered nonsmooth problems and have a convergence rate of O(√1 t). To achieve an improved convergence guarantee for smooth problems, this work proposes a second-order consensus scheme that assists each agent to locally track the global dual variable more accurately. This new scheme in conjunction with smoothness of the objective ensures that the accumulation of consensus error over time caused by incomplete global information is bounded from above. Then, a rigorous investigation of dual averaging with inexact gradient oracles is carried out to compensate the consensus error and achieve an O(1t ) convergence rate. The proposed method is examined in a large-scale LASSO problem.

Smoothness

10.1016/j.ifacol.2020.12.1127

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Citations (3)

Towards an $O(\frac{1}{t})$ convergence rate for distributed dual averaging

arXiv (Cornell University) (2019)

Changxin Liu Huiping Li Yang Shi

Recently, distributed dual averaging has received increasing attention due to its superiority in handling constraints and dynamic networks in multiagent optimization. However, all distributed dual averaging methods reported so far considered nonsmooth problems and have a convergence rate of $O(\frac{1}{\sqrt{t}})$. To achieve an improved convergence guarantee for smooth problems, this work proposes a second-order consensus scheme that assists each agent to locally track the global dual variable more accurately. This new scheme in conjunction with smoothness of the objective ensures that the accumulation of consensus error over time caused by incomplete global information is bounded from above. Then, a rigorous investigation of dual averaging with inexact gradient oracles is carried out to compensate the consensus error and achieve an $O(\frac{1}{t})$ convergence rate. The proposed method is examined in a large-scale LASSO problem.

Smoothness

Lasso

10.48550/arxiv.1911.05979

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Citations (0)

Fast and Accurate Multi-Agent Trajectory Prediction for Crowded Unknown Scenes

IEEE Transactions on Automation Science and Engineering (2024)

Xiuye Tao Huiping Li Bin Liang Yang Shi Demin Xu

10.1109/tase.2024.3466272

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Performance-guaranteed fractional-order sliding mode control for underactuated autonomous underwater vehicle trajectory tracking with a disturbance observer

Ocean Engineering (2022)

Shaowei Rong Huigang Wang Huiping Li Weitao Sun Qingyue Gu

Underactuation

Robustness

Mode (computer interface)

10.1016/j.oceaneng.2022.112330

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Citations (31)

Path Planning in Uncertain Environment With Moving Obstacles Using Warm Start Cross Entropy

IEEE/ASME Transactions on Mechatronics (2021)

Xiuye Tao Ning Lang Huiping Li Demin Xu

This article studies the robot's path planning problem with observation uncertainties in an environment containing moving obstacles. The framework of partially observable Markov decision process is utilized to deal with the planning problem, in which the environment is characterized as a grid map. To design an efficient and solvable optimization problem, we design safer moving rules in the grid map and formulate the new cost functions, including the collision costs incurred by the static and dynamic obstacles. Furthermore, we propose a cross entropy algorithm with a new initialization scheme called the warm start cross entropy to solve the optimization problem with improved searching speed. The simulation and comparison studies validate the advantages of the proposed method in safety and computational speed. In addition, the hardware experiments on a robot platform verify the applicability and feasibility of the proposed path planning method.

Cross entropy

10.1109/tmech.2021.3071723

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Citations (15)

Co-design of Sampling Pattern and Control in Self-triggered Model Predictive Control for Sampled-data Systems

IFAC-PapersOnLine (2020)

Di Cui Huiping Li

This paper studies the event-triggered model predictive control (MPC) problem for networked control systems with input constraints, where the control is of the sampled-data form. A novel self-triggered MPC (STMPC) method which enables the optimal design of sampling pattern and control law is proposed to reduce the conservatism of separate design of trigger and control law in existing approaches. The conditions on ensuring the algorithm feasibility and the closed-loop system stability are developed. In addition, an upper bound of the closed-loop system performance is derived which provides performance guarantee for the designed STMPC. Finally, simulation results are presented to verify the effectiveness of the proposed STMPC method.

Model Predictive Control

Sampling time

10.1016/j.ifacol.2020.12.2332

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Citations (2)