Changchun Hua

Human-like memory empowers embodied robots for long-term object navigation

Ying Zhang, Renjie Song, Hongliang Ren, Haibao Yan et autres

Abstract Effortless object finding by humans, even in cluttered or unseen environments, relies on the seamless integration of perception, memory, and contextual inference. In contrast, embodied robots operating under egocentric perception and partial observability frequently struggle with dynamic spatial relations and long-term …

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A novel boundary modification strategy for uncertain nonlinear systems with incompatible state constraints

Changchun Hua, Haotian Li, Hao Li, Ranxin Dong

A New Result of Prescribed-Time Control for Uncertain Nonlinear Systems and its Applications to Higher-Order Tracking

Liuliu Zhang, Xianglin Liu, Cheng Qian, Changchun Hua

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Adaptive Prescribed‐Time Control for Nonlinear Systems With Triggered States

Liuliu Zhang, Xinxin Fang, Cheng Qian, Changchun Hua

ABSTRACT The problem of adaptive prescribed‐time control for a class of nonlinear systems with uncertain parameters is studied under the condition of state‐triggered transmission. The intermittent state feedback mechanism leads to discontinuous states, which generates the problem about non‐differentiable virtual control signals. …

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Learning what you hold: A personalized object registration and recognition framework via handheld interaction

Maoliang Yin, Changchun Hua, Ying Zhang, Yiyue Gao et autres

Personalized object recognition is a critical capability for home service robots to understand and execute user-specific requests within idiosyncratic domestic environments. However, existing approaches to object recognition predominantly treat targets as generic category instances, thereby failing to capture the subjective semantic attributes …

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Practical prescribed time control for tracked mobile robots with coupled actuator failure

Dianrui Mu, Changchun Hua, Jiannan Chen, Yu Zhang et autres

This paper considers the practical prescribed time (PPT) trajectory tracking problem for tracked mobile robots (TMRs) with time-varying actuator failures in off-road scenarios. A new system model, which is suitable for TMRs under time-varying actuator failures and uneven road surfaces, is established. …

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Adaptive Task-Space Control for Hydraulic Excavators Based on the High-Order Fully Actuated System Approach

Bo Zhang, Changchun Hua, Jiafeng Zhou, Jiannan Chen et autres

This article proposes a novel control framework for hydraulic excavators based on a high-order fully actuated (HOFA) system approach. First, a comprehensive HOFA model is established, which describes the excavator dynamics in task space, joint space, and drive space. The proposed control …

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Nutcracker Optimization Algorithm and Its Applications: A Systematic Review

LIU Yiwei, Yinggan Tang, Changchun Hua

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Safe Reinforcement Learning Control for Unmanned Surface Vessel

Yana Yang, Chunyu Liu, Tengfei Zhang, Changchun Hua et autres

Unmanned surface vessel (USV) faces three core challenges in achieving safe, efficient, and adaptive autonomous navigation in complex dynamic waters. Reinforcement Learning (RL) policies are prone to violating physical constraints during exploration, leading to hazardous behaviors. Existing safety mechanisms struggle to ensure …

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Prescribed-Time Fault Estimation for Linear Systems with Unknown Inputs

Haifang Li, Changchun Hua

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Dataset and model for advancing robust material recognition in construction environments

Kuo Chen, Changchun Hua, Jiannan Chen, Chang Liu et autres

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Prescribed-Time Control for a Class of Underactuated Systems: A High-Order Fully Actuated System Approach

Xiaoshuang Zhou, Yana Yang, Changchun Hua, Tengfei Zhang et autres

For uncertain link-type underactuated mechanical systems (LUMSs), existing fully actuated system (FAS)-based approaches are often difficult to apply because the required structural conditions are not satisfied. This article develops an adaptive prescribed-time controller for a class of LUMSs by combining FAS theory …

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