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Symmetry
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Data Driven and Intelligent Aerospace and Robotics Systems
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Data Driven and Intelligent Aerospace and Robotics Systems

A special issue of Symmetry (ISSN 2073-8994). This special issue belongs to the section "Computer".

Deadline for manuscript submissions: 31 December 2025 | Viewed by 13268

Special Issue Editors

Dr. Chengxi Zhang

E-Mail Website
Guest Editor
Associate Professor, School of Internet of Things Engineering, Jiangnan University, Wuxi 214082, China
Interests: robotics and control; intelligent planning and applications
Special Issues, Collections and Topics in MDPI journals
Dr. Jin Wu

E-Mail Website
Guest Editor
Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong, China
Interests: optimization; symbolic computation; robotics; navigation; optimal filtering; orbit determination; hybridization theory
Special Issues, Collections and Topics in MDPI journals
Dr. Zian Wang

E-Mail Website
Guest Editor
China Academy of Launch Vehicle Technology, Beijing, China
Interests: aircraft systems; flight dynamics
Prof. Dr. Caisheng Wei

E-Mail Website
Guest Editor
School of Automation, Central South University, Changsha 410083, China
Interests: flight dynamics and control; trajectory planning; formation flying control
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Symmetry and asymmetry are common in engineering science. For example, electronic rotors, aircraft wings, and spacecraft flywheel structures possess excellent symmetry in actuators. Due to machining defects, these controlled objects are practically asymmetric, and external perturbations somehow break the symmetry. Therefore, we need to design sophisticated algorithms to maintain these elegant systems. The design of control systems is critical to the safe operation of various mechanical systems such as space vehicles, maritime robotics, and micromechanical systems. Current research is more than adequate, but more refined, intelligent, low-resource-consumption technologies for control systems algorithms are still in short supply to accommodate the industry's growth. In this Special Issue, “Data Driven and Intelligent Aerospace and Robotics Systems”, we aim to attract original research and survey papers reflecting the recent advances in the theory and methodology driving recent progress in control system design and applications.

Please note that all submitted papers must be within the general scope of Symmetry. Potential topics include but are not limited to the following:

  • Intelligent computing and machine learning;
  • Planning, control and decision in robotics;
  • Online self-learning control and observer;
  • Fault-diagnosis and fault-tolerant control;
  • Data-driven approaches and applications;
  • Machine vision and 3D-reconstruction;
  • Integrated navigation and multi-sensor fusion.

Dr. Chengxi Zhang
Dr. Jin Wu
Dr. Zian Wang
Prof. Dr. Caisheng Wei
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Symmetry is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

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  • Ease of navigation: Grouping papers by topic helps scholars navigate broad scope journals more efficiently.
  • Greater discoverability: Special Issues support the reach and impact of scientific research. Articles in Special Issues are more discoverable and cited more frequently.
  • Expansion of research network: Special Issues facilitate connections among authors, fostering scientific collaborations.
  • External promotion: Articles in Special Issues are often promoted through the journal's social media, increasing their visibility.
  • Reprint: MDPI Books provides the opportunity to republish successful Special Issues in book format, both online and in print.

Further information on MDPI's Special Issue policies can be found here.

Published Papers (6 papers)

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Research

20 pages, 19662 KiB  
Article
A Modular Robotic Arm Configuration Design Method Based on Double DQN with Prioritized Experience Replay
by Ziyan Ding, Haijun Tang, Haiying Wan, Chengxi Zhang and Ran Sun
Symmetry 2024, 16(6), 714; https://doi.org/10.3390/sym16060714 - 8 Jun 2024
Cited by 4 | Viewed by 1300
Abstract
The modular robotic arms can achieve desired performances in different scenarios through the combination of various modules, and concurrently hold the potential to exhibit geometric symmetry and uniform mass symmetry. Therefore, selecting the appropriate combination of modules is crucial for realizing the functions [...] Read more.
The modular robotic arms can achieve desired performances in different scenarios through the combination of various modules, and concurrently hold the potential to exhibit geometric symmetry and uniform mass symmetry. Therefore, selecting the appropriate combination of modules is crucial for realizing the functions of the robotic arm and ensuring the elegance of the system. To this end, this paper proposes a double deep Q-network (DDQN)-based configuration design algorithm for modular robotic arms, which aims to find the optimal configuration under different tasks. First, a library of small modules of collaborative robotic arms consisting of multiple tandem robotic arms is constructed. These modules are described in a standard format that can be directly imported into the software for simulation, providing greater convenience and flexibility in the development of modular robotic arms. Subsequently, the DDQN design framework for module selection is established to obtain the optimal robotic arm configuration. The proposed method could deal with the overestimation problem in the traditional deep Q-network (DQN) method and improve the estimation accuracy of the value function for each module. In addition, the experience replay mechanism is improved based on the SumTree technique, which enables the algorithm to make effective use of historical experience and prevents the algorithm from falling into local optimal solutions. Finally, comparative experiments are carried out on the PyBullet simulation platform to verify the effectiveness and superiority of the configuration design method developed in the paper. The simulation results show that the proposed DDQN-based method with experience replay mechanism has higher search efficiency and accuracy compared to the traditional DQN scheme. Full article
(This article belongs to the Special Issue Data Driven and Intelligent Aerospace and Robotics Systems)
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24 pages, 529 KiB  
Article
Adaptive Fuzzy Fixed-Time Control for Nonlinear Systems with Unmodeled Dynamics
by Rongzheng Luo, Lu Zhang, You Li and Jiwei Shen
Symmetry 2024, 16(5), 606; https://doi.org/10.3390/sym16050606 - 14 May 2024
Cited by 1 | Viewed by 1605
Abstract
This article concentrates on the problem of fixed-time tracking control for a certain class of nonlinear systems with unmodeled dynamics. Unmodeled dynamics are prevalent in practical engineering systems, such as axially symmetric systems like robotic arms, spacecraft, and missiles. In this paper, the [...] Read more.
This article concentrates on the problem of fixed-time tracking control for a certain class of nonlinear systems with unmodeled dynamics. Unmodeled dynamics are prevalent in practical engineering systems, such as axially symmetric systems like robotic arms, spacecraft, and missiles. In this paper, the fuzzy-logic systems (FLSs) are implemented to address the challenge of accurately approximating the unknown nonlinear terms that arise during the derived control algorithm process. By employing fixed-time command filters (FTCF), the “explosion of complexity” issues encountered in traditional backstepping methods will be effectively resolved. Moreover, error compensation mechanisms are derived to effectively mitigate the filtering errors that may arise from the FTCFs. The computational burden associated with FLSs is reduced through the utilization of the weight vector estimation method based on the maximal norm and an adaptive approach. A fixed-time adaptive fuzzy tracking controller is developed within the backstepping control framework to ensure the boundedness of all signals and achieve fixed-time convergence of the tracking error for the controlled system. Illustrative examples are conducted to illustrate the viability of the derived controller. Full article
(This article belongs to the Special Issue Data Driven and Intelligent Aerospace and Robotics Systems)
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20 pages, 435 KiB  
Article
Data-Driven Model Predictive Control for Uncalibrated Visual Servoing
by Tianjiao Han, Hongyu Zhu and Dan Yu
Symmetry 2024, 16(1), 48; https://doi.org/10.3390/sym16010048 - 29 Dec 2023
Cited by 2 | Viewed by 1728
Abstract
This paper addresses the image-based visual servoing (IBVS) control problem with an uncalibrated camera, unknown dynamics, and constraints. A novel data-driven uncalibrated IBVS (UIBVS) strategy is proposed, incorporated with the Koopman-based model predictive control (KMPC) algorithm and the adaptive robust Kalman filter (ARKF). [...] Read more.
This paper addresses the image-based visual servoing (IBVS) control problem with an uncalibrated camera, unknown dynamics, and constraints. A novel data-driven uncalibrated IBVS (UIBVS) strategy is proposed, incorporated with the Koopman-based model predictive control (KMPC) algorithm and the adaptive robust Kalman filter (ARKF). First, to alleviate the need for calibration of the camera’s intrinsic and extrinsic parameters, the ARKF with an adaptive factor is utilized to estimate the image Jacobian matrix online, thereby eliminating the laborious camera calibration procedures and improving robustness against camera disturbances. Then, a data-driven MPC strategy is proposed, wherein the unknown nonlinear dynamic model is learned using the Koopman operator theory, resulting in a linear Koopman prediction model. Only input–output data are used to construct the prediction model, and hence, the proposed approach is robust against model uncertainties. Furthermore, with a symmetric quadratic cost function, the proposed approach solves the quadratic programming problem online, and visibility constraints as well as joint torque constraints are taken into account. As a result, the proposed KMPC scheme can be implemented in real time, and the UIBVS performance degradation which arises from the control torque constraints can be avoided. Simulations and comparisons for a 2-DOF robotic manipulator demonstrate the feasibility of the proposed approach. Simulation results further validate that the computation time of the proposed approach is comparable to the one of kinematic-based methods. Full article
(This article belongs to the Special Issue Data Driven and Intelligent Aerospace and Robotics Systems)
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17 pages, 5150 KiB  
Article
Analysis on the Effect of Phase Noise on the Performance of Satellite Communication and Measurement System
by Xuan Liu, Hongmin Lu, Yifeng He, Fulin Wu, Chengxi Zhang and Xiaoliang Wang
Symmetry 2023, 15(11), 2053; https://doi.org/10.3390/sym15112053 - 12 Nov 2023
Cited by 3 | Viewed by 3095
Abstract
An oscillator is a key component of a satellite communication measurement and control system, performing symmetry precisely as a time frequency reference. At the same time, the phase noise index has a close coupling relationship with the overall performance of the entire system, [...] Read more.
An oscillator is a key component of a satellite communication measurement and control system, performing symmetry precisely as a time frequency reference. At the same time, the phase noise index has a close coupling relationship with the overall performance of the entire system, while persistently breaking the symmetry property of the oscillator during work. It is very important to study and reasonably allocate the phase noise index. According to the theoretical formula of phase noise, this paper analyzes the power law spectral model in the frequency domain and the noise jitter characteristics in the time domain. Using the carrier tracking loop in the measurement system, the frequency domain transfer model of phase noise is established, and typical analysis results are given. A discrete fractional integration algorithm is proposed, which can generate the phase noise time domain sequence under the given power law spectral model coefficients. The proposed algorithm is more realistic compared with the previous numerical calculation method, and has sufficient accuracy compared with the results of the instrument. After frequency domain conversion, the RMS deviation between the simulated noise sequence in the frequency domain and the measured single sideband power spectral density is less than 2.5 dB, indicating that the phase noise sequence can reflect the frequency domain characteristics more completely. A communication measurement simulation system is built, and a discrete sequence simulation analysis method combining frequency domain and time domain is provided, and the coupling relationship of key indicators such as phase noise, thermal noise, communication data rate, modulation method and bit error rate is synthesized. The results show that the BER of the QPSK/BPSK communication system will not be significantly reduced if the phase jitter RMS caused by the phase noise is less than 5 degrees, so 5 degrees can be used as a reference for the decomposition of the carrier SSB phase noise index. The simulation results have been successfully applied to a satellite inter-satellite link system, which has universal practical application value. Full article
(This article belongs to the Special Issue Data Driven and Intelligent Aerospace and Robotics Systems)
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17 pages, 8441 KiB  
Article
A Human-like Inverse Kinematics Algorithm of an Upper Limb Rehabilitation Exoskeleton
by Shuo Pei, Jiajia Wang, Junlong Guo, Hesheng Yin and Yufeng Yao
Symmetry 2023, 15(9), 1657; https://doi.org/10.3390/sym15091657 - 28 Aug 2023
Cited by 7 | Viewed by 2342
Abstract
Powered exoskeleton rehabilitation is an effective way to help stroke patients recover their motor abilities. Bionic structures and human-like control strategies can be used to enhance both the safety and efficacy of exoskeletons. However, the motion characteristics of the shoulder complex are not [...] Read more.
Powered exoskeleton rehabilitation is an effective way to help stroke patients recover their motor abilities. Bionic structures and human-like control strategies can be used to enhance both the safety and efficacy of exoskeletons. However, the motion characteristics of the shoulder complex are not sufficiently considered. In this paper, we designed a 7-degrees-of-freedom (DOF) upper limb rehabilitation exoskeleton, FREE (functional rehabilitation exoskeleton). The mechanical structures of the shoulder and forearm of FREE are in accordance with human anatomy, and can be used to perform a wide range of synergistic motion of multiple joints while keeping a safe distance from the patient’s head. A multiple-input-multiple-output (MIMO) shoulder girdle motion prediction model was developed to satisfy the synergy between humans and exoskeletons. Moreover, a constrained task priority and projected gradient-based inverse kinematics algorithm (CTPPG-IK) was proposed to achieve assistance with scapulohumeral rhythm. A motion capture system was used to collect different activities of daily life (ADL) motion data to validate the proposed algorithm. The experimental results show that the accuracy of the prediction model is higher than that of existing models, and the inverse kinematics algorithm can handle the end-effector task and joint space with a maximum angle error of 3.04×10−3 rad. Full article
(This article belongs to the Special Issue Data Driven and Intelligent Aerospace and Robotics Systems)
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21 pages, 11880 KiB  
Article
Coordinated Symmetrical Altitude Position and Attitude Control for Stratospheric Airship Subject to Strong Aerodynamic Uncertainties
by Kun Yan, Ju Jiang, Mingwei Sun and Zengqiang Chen
Symmetry 2023, 15(6), 1260; https://doi.org/10.3390/sym15061260 - 14 Jun 2023
Cited by 1 | Viewed by 1490
Abstract
The stratospheric airship has important value in both commercial and military use. The altitude position control is very crucial for the airship to conduct specific missions, which is also a challenge because of both the severe relative aerodynamic mismatches and the large lag [...] Read more.
The stratospheric airship has important value in both commercial and military use. The altitude position control is very crucial for the airship to conduct specific missions, which is also a challenge because of both the severe relative aerodynamic mismatches and the large lag due to the quite low speed of the airship within 15 m/s. In this paper, a coordinated altitude and attitude control method was proposed to realize satisfactory altitude position control while maintaining the attitude stability by properly employing the two actuators, the propeller thrust and the elevator, in a consistent manner. In this process, the references for the vertical speed and the pitch were specified in a straightforward way of proportionating them by considering their physical characteristics and the inherent symmetrical relationship between them, which can be obtained through the kinematics. An extended disturbance observer was used to eliminate the severe aerodynamic uncertainties to symmetrically distribute the two actuator outputs by dynamically decoupling the vertical speed and the pitch angular rate loops into the two independent integrators. As a result, the explicit proportional controllers were sufficient to realize efficient command tracking. Rigorous theoretical investigation was provided to symmetrically prove the quantitative bounded property of the estimation and tracking errors. The simulation results demonstrated the effectiveness of the proposed approach, which can realize a 500-m altitude difference tracking within 200 s with less than 0.5 deg/s pitch angular rate. Full article
(This article belongs to the Special Issue Data Driven and Intelligent Aerospace and Robotics Systems)
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