孙宁｜山东师范大学｜学者主页

2026

Predictive Safety Filter for Constrained Uncertain Nonlinear Mechatronic Systems with GP Learning

Meng Zhai, Tong Yang, Ming Li, Xuerui Jiao, Yong-Chun Fang, Ning Sun

2026 7th International Conference on Artificial Intelligence and Electromechanical Automation (AIEA)

DOI

2026

Variable Admittance Output Feedback Control for Pneumatic Artificial Muscle Systems Respecting Task Space Constraints

Gendi Liu, Xin-Lin Zhang, Shu-Zhen Diao, Zhuoqing Liu, Yang-Cui Cao, Song Men, Ning Sun

IEEE Transactions on Control Systems Technology

DOI

2026

Output Feedback Control for PAM-Actuated Parallel Robots With Interval Type-2 Fuzzy Neural Networks

Qihang Wang, Shu-Zhen Diao, Gendi Liu, Tong Yang, Yongsheng Wang, Yan-Ding Qin, Ning Sun

IEEE Transactions on Systems, Man & Cybernetics. Systems

DOI

2026

A hybrid echo state network-based fully actuated system approach for antagonistic PAM-actuated robotic arms under external disturbances

Yu’ao Wang, Tong Yang, Zhixin Yang, Ming Li, Yong-Chun Fang, Ning Sun

Control Engineering Practice

DOI

2026

Predefined-Time Synchronous Control for 3-D Dual-Boom Cranes: Same-Plane Synchronization, Different-Plane Coordination, and Payload Regulation

Zhuoqing Liu, Tong Yang, Yong-Chun Fang, Ning Sun

IEEE/ASME transactions on mechatronics

DOI

2026

Double-Loop Fuzzy Neural Network-Based Fixed-Time Robust Control for Antagonistic PM-Actuated Wrist Robots With Motion Constraints

Yue Xu, Shu-Zhen Diao, Tong Yang, Xin-Lin Zhang, Ming Li, Yakun Gao, D. Navarro-Alarcón, Ning Sun

IEEE transactions on fuzzy systems

DOI

2026

Fixed-Time Synchronization Control of Dual 3-D-Deformable Soft Actuators for Linear Locomotion in Soft Robots

Zehao Qiu, Qing-Xiang Wu, Yong-Chun Fang, Zhi-Xin Yang, Ning Sun

IEEE Transactions on Control Systems Technology

DOI

2026

Multimodal Cross-Domain Motion of Terrestrial- Aerial Amphibious Robots: Planning, Control, and Experiments

Hai Wang, Qing-Xiang Wu, Huanhuan Lou, Ming Li, Yuanhao Su, Ning Sun

IEEE/ASME transactions on mechatronics

DOI

2026

Manipulation of Deformable Objects With Soft Grippers Based on Adaptive Fuzzy Control and a Self-Supervised Feature Descriptor

Yue-Xuan Xu, Ning Han, Jin-Rui Li, Tong Yang, Yun-Hui Liu, Ning Sun, D. Navarro-Alarcón

IEEE transactions on fuzzy systems

DOI

2026

Dynamic Compliant Control With Multistep Prediction for Pneumatic Artificial Muscle-Actuated Parallel Robots

Shu-Zhen Diao, Xin-Lin Zhang, Zhi-Xin Yang, Yan-Ding Qin, Wei Sun, Ning Sun

IEEE transactions on industrial electronics (1982. Print)

DOI

2026

Iterative Learning Motion Control for Pneumatic Artificial Muscle-Actuated Wrist Joints With Error Constraints and Nonrepetitive Tasks.

Yue Xu, Tong Yang, Gendi Liu, Xin-Lin Zhang, Meng-Hua Zhang, D. Navarro-Alarcón, Ning Sun

IEEE Transactions on Cybernetics

DOI

2026

Design and evaluation of a tendon-and-linkage hybrid-driven humanoid dexterous hand

Ke Li, Fanlin Meng, Linjie Liu, Raviraj Nataraj, Ning Sun, Na Wei

Scientific Reports

DOI

2026

Design and Simulation Verification of A Robotic Gripper Based on A Gear-Tendon Parallel Driven Mechanism

Zelong Wang, Maolong Zhang, Ning Sun

Youth Academic Annual Conference of Chinese Association of Automation (YAC)

DOI

2025

基于迟滞逆补偿的气动人工肌肉并联机器人同步控制

刁淑贞，张欣霖，刘根娣，秦岩丁，方勇纯，孙宁

《机器人》

DOI

2025

Integral Barrier Function-Based Adaptive Output Feedback Robust Force Control for Pneumatic Compliant End-Effectors With Complex Hysteresis

Haoqi Tang, Qing-Xiang Wu, Zhuoqing Liu, Yong-Chun Fang, Ning Sun

IEEE transactions on industrial electronics (1982. Print)

DOI

2025

Adaptive Learning Control for Time-Varying Parameter Pneumatic Artificial Muscle Robots With Force/Torque Perturbation and Input Delays

Tong Yang, Chang-Da Fan, Yong-Chun Fang, Ning Sun

IEEE Transactions on Control Systems Technology

DOI

2025

NMPC-Based Obstacle Avoidance Trajectory Planning for Bionic Ray-Inspired Amphibious Robots With Dead Zone Compensation

Yixuan Wang, Qing-Xiang Wu, Xuebing Wang, Hua-Wang Liu, Yong-Chun Fang, Ning Sun

Guidance, Navigation and Control

DOI

2025

Cruise and Operation of a Biomimetic Underwater Vehicle via Parametrization Adaptive Model Predictive Control

Yu Wang, Jiaqi Lv, X. Bai, Shuo Wang, Ning Sun, Wei Wang, Long Cheng, Zeng-Guang Hou, Min Tan

IEEE transactions on industrial electronics (1982. Print)

DOI

2025

Crocodile-Inspired Soft Robots With Spatial Bending Leg Actuators and Coordinated Locomotion Planning for Amphibious Environments

Qing-Xiang Wu, Zehao Qiu, Yize Ma, Yong-Chun Fang, Ning Sun

IEEE transactions on industrial electronics (1982. Print)

DOI

2025

Accelerated Gradient-Based Neuroadaptive Synchronization Control for Antagonistic PAM Robot Hands With Obstacle Avoidance and Motion Constraints

Tong Yang, Yue-Xuan Xu, Yong-Chun Fang, D. Navarro-Alarcón, Song Men, Ning Sun

IEEE Transactions on Medical Robotics and Bionics

DOI

2025

Adaptive Neural Network Unified Control for General MIMO Underactuated Mechatronic Systems With Disturbances via Modified Normal Forms

Meng Zhai, Tong Yang, Ming Li, Xuerui Jiao, Yong-Chun Fang, Ning Sun

IEEE Transactions on Automation Science and Engineering

DOI

2025

Modeling and Adaptive Control of Double-Pendulum Offshore Cranes with Distributed-Mass Payloads and External Disturbances

Shudong Guo, Nan Li, Qing-Xiang Wu, Yuxuan Jiao, Ya-Xuan Wu, Weijie Hou, Yue-Hua Li, Tong Yang, Ning Sun

Actuators

DOI

2025

Practical Finite-Time Compliant Control for Horizontal Pneumatic Artificial Muscle Systems Under Force-Sensorless Reflecting

Gendi Liu, Shu-Zhen Diao, Zhuoqing Liu, Xin-Lin Zhang, Xupeng Xiao, Song Men, Ning Sun

IEEE Transactions on Automation Science and Engineering

DOI

2025

Observer-Based Adaptive Prescribed-Time Asymptotic Tracking Control for Flexible-Joint Manipulators

Yu Gao, Wei Sun, Ning Sun

IEEE Transactions on Systems, Man & Cybernetics. Systems

DOI

2025

Safety Filter for Underactuated Mechanical Systems With Time-Varying Constraints

Shizhen Wu, Biao Lu, Yong-Chun Fang, Ning Sun

IEEE Transactions on Systems, Man & Cybernetics. Systems

DOI

2025

Velocity Feedback-Free Synchronous Control for Pneumatic Artificial Muscle-Actuated Parallel Robots With Fractional-Order Hysteresis

Shu-Zhen Diao, Gendi Liu, Xin-Lin Zhang, Jing Zhao, Yan-Ding Qin, Wei Sun, Ning Sun

IEEE transactions on industrial electronics (1982. Print)

DOI

2025

Inside Front Cover Image, Volume 42, Number 6, September 2025

Qing-Xiang Wu, Yu’ao Wang, Yu Fu, Tong Yang, Yong-Chun Fang, Ning Sun

J. Field Robotics

DOI

2025

Bioinspired Reference Model and Fully Actuated System Approach-Based Neuroadaptive Control for Uncertain Active Suspension Systems With Input Dead Zones

Meng-Hua Zhang, Zengcheng Zhou, Ning Sun, Hao-Kun Geng, Jing Zhao, Zhi-Xin Yang

IEEE transactions on industrial electronics (1982. Print)

DOI

2025

Fixed-Time Tracking Control of 3-D Collaborative Double Boom Cranes With Obstacle Avoidance and Prescribed Performance

Zhuoqing Liu, Tong Yang, Lu Zhou, Yong-Chun Fang, Ning Sun

IEEE Transactions on Systems, Man & Cybernetics. Systems

DOI

2025

Dynamic Modeling and Adaptive Fuzzy Control of Spatial Deformation Pneumatic Leg Actuators With Error Constraints

Zehao Qiu, Qing-Xiang Wu, Zhuoqing Liu, Yong-Chun Fang, Ning Sun

J. Field Robotics

DOI

2025

Design and Kinematic Modeling of Wrist‐Inspired Joints for Restricted Operating Spaces

Qing-Xiang Wu, Yu’ao Wang, Yu Fu, Tong Yang, Yong-Chun Fang, Ning Sun

J. Field Robotics

DOI

2025

Adaptive Fuzzy Control for Underactuated Robot Systems With Inaccurate Actuated States and Unavailable Unactuated States

Meng Zhai, Shu-Zhen Diao, Tong Yang, Qing-Xiang Wu, Yong-Chun Fang, Ning Sun

IEEE Transactions on Automation Science and Engineering

DOI

2025

Co-Design of Enhanced Fuzzy Observer-Based Estimation and Gain-Scheduling Control for Active Suspension Systems Under Malicious Attacks

Shan Yu, Xiangpeng Xie, Ning Sun

IEEE transactions on intelligent transportation systems (Print)

DOI

2025

Fully-Actuated System Approach-Based Neuroadaptive Control for Underactuated Robots With State Estimation and Delay

Tong Yang, Meng-Hua Zhang, Wei Sun, Ning Sun

IEEE Transactions on Cybernetics

DOI

2025

Finite-Time Synchronous Motion Control for Pneumatic Muscle-Actuated Parallel Robots in Cartesian Space

Shu-Zhen Diao, Gendi Liu, Tong Yang, Meng-Hua Zhang, Yan-Ding Qin, Wei Sun, Ning Sun

IEEE/ASME transactions on mechatronics

DOI

2025

LSTM-NN-Enhanced Tracking Control for PAM-Driven Parallel Robot Systems With Guaranteed Performance

Xin-Lin Zhang, Shu-Zhen Diao, Tong Yang, Yong-Chun Fang, Ning Sun

IEEE Transactions on Circuits and Systems Part 1: Regular Papers

DOI

2025

Modeling and control for PAM-actuated robots: an overview

Xin-Lin Zhang, Shu-Zhen Diao, Tong Yang, Yan-Ding Qin, Ning Sun

Smart materials and structures (Print)

DOI

2025

Admittance-Based Output Feedback Fuzzy Switching Control for PAM-Driven Parallel Robots via Nonsingular Terminal Sliding Mode

Xin-Lin Zhang, Gendi Liu, Shu-Zhen Diao, Tong Yang, Yong-Chun Fang, Ning Sun

IEEE Transactions on Automation Science and Engineering

DOI

2025

Design and Performance Analysis of a Series-Parallel Self-Aligning Index Finger Exoskeleton

Ning Sun, Zelong Wang, Long Cheng, Houcheng Li, Ben Niu, Xijin Sun, Ke Li

IEEE Robotics and Automation Letters

DOI

2025

Design and Performance Evaluation of a Novel Miniaturized, Lightweight, Reconfigurable Variable Stiffness Actuator

Xin Zhang, Ben Niu, Houcheng Li, Yongxiang Zou, Chenguang Li, Mingxu Sun, Ning Sun

IEEE/ASME International Conference on Advanced Intelligent Mechatronics

DOI

2024

多自由度机器人自适应滑模迭代学习跟踪控制

张程琳，桑文闯，孙宁，邱泽昊，吴庆祥，方勇纯

《控制与决策》

DOI

2024

Precise Motion Control for Self-Reconfiguration Wave-Like Crawling Robots in Parallel Connection With Limited Resources

Haosheng Sun, Qing-Xiang Wu, Hua-Wang Liu, Yong-Chun Fang, Ning Sun

IEEE Robotics and Automation Letters

DOI

2024

Supervised Learning Control for Compliant Pneumatic Artificial Muscle Robots With Preassigned-Time Performance

Gendi Liu, Shu-Zhen Diao, Tong Yang, Xin-Lin Zhang, Yong-Chun Fang, Ning Sun

IEEE Transactions on Systems, Man, and Cybernetics: Systems

DOI

2024

Prescribed-Time Adaptive Fuzzy Control for Pneumatic Artificial Muscle-Actuated Parallel Robots With Input Constraints

Shu-Zhen Diao, Gendi Liu, Zhuoqing Liu, Lu Zhou, Wei Sun, Yu Wang, Ning Sun

IEEE transactions on fuzzy systems

DOI

2024

Hysteresis Compensation-Based Intelligent Control for Pneumatic Artificial Muscle-Driven Humanoid Robot Manipulators With Experiments Verification

Xin-Lin Zhang, Ning Sun, Gendi Liu, Tong Yang, Yong-Chun Fang

IEEE Transactions on Automation Science and Engineering

DOI

2024

Optimal Trajectory-Based Control of 3-D Dual Rotary Cranes for Payload Dynamic Regulation in Complex Environments

Zhuoqing Liu, Tong Yang, Yong-Chun Fang, Ning Sun

IEEE Transactions on Artificial Intelligence

DOI

2024

Proxy-Based Sliding Mode Force Control for Compliant Grinding via Diagonal Recurrent Neural Network and Prandtl-Ishlinskii Hysteresis Compensation Model

Zhiyuan Li, Lei Sun, Jidong Liu, Yan-Ding Qin, Ning Sun, Lu Zhou

Actuators

DOI

2024

Disturbance Preview-Based Output Feedback Predictive Control for Pneumatic Artificial Muscle Robot Systems With Hysteresis Compensation

Xin-Lin Zhang, Ning Sun, Gendi Liu, Tong Yang, Jun Yang

IEEE/ASME transactions on mechatronics

DOI

2024

Data-Based Dual-Loop Learning Control of Underactuated Systems With Disturbance Prediction and Input–Output Constraints

Tong Yang, Ning Sun, Meng Zhai, Yong-Chun Fang, Qing-Xiang Wu

IEEE Transactions on Artificial Intelligence

DOI

2024

Fully actuated system approach to robust control for uncertain active suspension systems

Meng-Hua Zhang, Zengcheng Zhou, Ning Sun, Jing Zhao

Nonlinear dynamics

DOI

2024

A New Three-Dimensional Deformation Pneumatic Soft Actuator With Mutually Vertical PneuNets

Zehao Qiu, Qing-Xiang Wu, Zhuoqing Liu, Yong-Chun Fang, Ning Sun

IEEE transactions on industrial electronics (1982. Print)

DOI

2024

Extended Kalman Filtering-Based Nonlinear Model Predictive Control for Underactuated Systems With Multiple Constraints and Obstacle Avoidance

Meng Zhai, Tong Yang, Qing Wu, Shudong Guo, Ruiping Pang, Ning Sun

IEEE Transactions on Cybernetics

DOI

2024

System Design and Kinematic Analysis of a Dexterous Hand with Humanoid Characteristics

Linjie Liu, Ning Sun, Ke Li

WRC Symposium on Advanced Robotics and Automation (WRC SARA)

DOI

2024

Design and Development of a Wrist-Hand Integrated Rehabilitation Robot with Human-Machine Interaction System

Xijin Sun, Ning Sun, Ke Li

International Convention on Rehabilitation Engineering and Assistive Technology (i-CREATe)

DOI

2024

An Exoskeleton Robot with More Active Degree of Freedoms and Larger Range of Motion for Hand Rehabilitation

Xijin Sun, Mengqi Liu, Mingze Sun, Ning Sun, Ke Li

International Conference on Advanced Robotics and Mechatronics (ICARM)

DOI

2021

气动人工肌肉驱动的机器人控制方法研究现状概述

梁定坤，陈轶珩，孙宁，吴易鸣，刘连庆，方勇纯

《控制与决策》

DOI

2021

串联弹性驱动器设计、建模及在机器人上的应用

孙宁，程龙

《自动化学报》

DOI

2020

Nonlinear Sliding Mode Tracking Control of Underactuated Tower Cranes

Zhuoqing Liu, Ning Sun, Yiming Wu, Xin Xin, Yong-Chun Fang

International Journal of Control, Automation and Systems

DOI

2015

Anti-sway control of an overhead crane with persistent disturbances by Lyapunov method

Bo He, Yong-Chun Fang, Ning Sun

Cybersecurity and Cyberforensics Conference

DOI

2012

Double time-scale robust flight control system design for a small-scale unmanned helicopter

Ning Sun

精选作品

期刊论文

Predictive Safety Filter for Constrained Uncertain Nonlinear Mechatronic Systems with GP Learning

Variable Admittance Output Feedback Control for Pneumatic Artificial Muscle Systems Respecting Task Space Constraints

Output Feedback Control for PAM-Actuated Parallel Robots With Interval Type-2 Fuzzy Neural Networks

A hybrid echo state network-based fully actuated system approach for antagonistic PAM-actuated robotic arms under external disturbances

Predefined-Time Synchronous Control for 3-D Dual-Boom Cranes: Same-Plane Synchronization, Different-Plane Coordination, and Payload Regulation

Double-Loop Fuzzy Neural Network-Based Fixed-Time Robust Control for Antagonistic PM-Actuated Wrist Robots With Motion Constraints

Fixed-Time Synchronization Control of Dual 3-D-Deformable Soft Actuators for Linear Locomotion in Soft Robots

Multimodal Cross-Domain Motion of Terrestrial- Aerial Amphibious Robots: Planning, Control, and Experiments

Manipulation of Deformable Objects With Soft Grippers Based on Adaptive Fuzzy Control and a Self-Supervised Feature Descriptor

Dynamic Compliant Control With Multistep Prediction for Pneumatic Artificial Muscle-Actuated Parallel Robots

Iterative Learning Motion Control for Pneumatic Artificial Muscle-Actuated Wrist Joints With Error Constraints and Nonrepetitive Tasks.

Design and evaluation of a tendon-and-linkage hybrid-driven humanoid dexterous hand

Design and Simulation Verification of A Robotic Gripper Based on A Gear-Tendon Parallel Driven Mechanism

基于迟滞逆补偿的气动人工肌肉并联机器人同步控制

Integral Barrier Function-Based Adaptive Output Feedback Robust Force Control for Pneumatic Compliant End-Effectors With Complex Hysteresis

Adaptive Learning Control for Time-Varying Parameter Pneumatic Artificial Muscle Robots With Force/Torque Perturbation and Input Delays

NMPC-Based Obstacle Avoidance Trajectory Planning for Bionic Ray-Inspired Amphibious Robots With Dead Zone Compensation

Cruise and Operation of a Biomimetic Underwater Vehicle via Parametrization Adaptive Model Predictive Control

Crocodile-Inspired Soft Robots With Spatial Bending Leg Actuators and Coordinated Locomotion Planning for Amphibious Environments

Accelerated Gradient-Based Neuroadaptive Synchronization Control for Antagonistic PAM Robot Hands With Obstacle Avoidance and Motion Constraints

Adaptive Neural Network Unified Control for General MIMO Underactuated Mechatronic Systems With Disturbances via Modified Normal Forms

Modeling and Adaptive Control of Double-Pendulum Offshore Cranes with Distributed-Mass Payloads and External Disturbances

Practical Finite-Time Compliant Control for Horizontal Pneumatic Artificial Muscle Systems Under Force-Sensorless Reflecting

Observer-Based Adaptive Prescribed-Time Asymptotic Tracking Control for Flexible-Joint Manipulators

Safety Filter for Underactuated Mechanical Systems With Time-Varying Constraints

Velocity Feedback-Free Synchronous Control for Pneumatic Artificial Muscle-Actuated Parallel Robots With Fractional-Order Hysteresis

Inside Front Cover Image, Volume 42, Number 6, September 2025

Bioinspired Reference Model and Fully Actuated System Approach-Based Neuroadaptive Control for Uncertain Active Suspension Systems With Input Dead Zones

Fixed-Time Tracking Control of 3-D Collaborative Double Boom Cranes With Obstacle Avoidance and Prescribed Performance

Dynamic Modeling and Adaptive Fuzzy Control of Spatial Deformation Pneumatic Leg Actuators With Error Constraints

Design and Kinematic Modeling of Wrist‐Inspired Joints for Restricted Operating Spaces

Adaptive Fuzzy Control for Underactuated Robot Systems With Inaccurate Actuated States and Unavailable Unactuated States

Co-Design of Enhanced Fuzzy Observer-Based Estimation and Gain-Scheduling Control for Active Suspension Systems Under Malicious Attacks

Fully-Actuated System Approach-Based Neuroadaptive Control for Underactuated Robots With State Estimation and Delay

Finite-Time Synchronous Motion Control for Pneumatic Muscle-Actuated Parallel Robots in Cartesian Space

LSTM-NN-Enhanced Tracking Control for PAM-Driven Parallel Robot Systems With Guaranteed Performance

Modeling and control for PAM-actuated robots: an overview

Admittance-Based Output Feedback Fuzzy Switching Control for PAM-Driven Parallel Robots via Nonsingular Terminal Sliding Mode

Design and Performance Analysis of a Series-Parallel Self-Aligning Index Finger Exoskeleton

Design and Performance Evaluation of a Novel Miniaturized, Lightweight, Reconfigurable Variable Stiffness Actuator

多自由度机器人自适应滑模迭代学习跟踪控制

Precise Motion Control for Self-Reconfiguration Wave-Like Crawling Robots in Parallel Connection With Limited Resources

Supervised Learning Control for Compliant Pneumatic Artificial Muscle Robots With Preassigned-Time Performance

Prescribed-Time Adaptive Fuzzy Control for Pneumatic Artificial Muscle-Actuated Parallel Robots With Input Constraints

Hysteresis Compensation-Based Intelligent Control for Pneumatic Artificial Muscle-Driven Humanoid Robot Manipulators With Experiments Verification

Optimal Trajectory-Based Control of 3-D Dual Rotary Cranes for Payload Dynamic Regulation in Complex Environments

Proxy-Based Sliding Mode Force Control for Compliant Grinding via Diagonal Recurrent Neural Network and Prandtl-Ishlinskii Hysteresis Compensation Model

Disturbance Preview-Based Output Feedback Predictive Control for Pneumatic Artificial Muscle Robot Systems With Hysteresis Compensation

Data-Based Dual-Loop Learning Control of Underactuated Systems With Disturbance Prediction and Input–Output Constraints

Fully actuated system approach to robust control for uncertain active suspension systems

A New Three-Dimensional Deformation Pneumatic Soft Actuator With Mutually Vertical PneuNets

Extended Kalman Filtering-Based Nonlinear Model Predictive Control for Underactuated Systems With Multiple Constraints and Obstacle Avoidance

System Design and Kinematic Analysis of a Dexterous Hand with Humanoid Characteristics

Design and Development of a Wrist-Hand Integrated Rehabilitation Robot with Human-Machine Interaction System

An Exoskeleton Robot with More Active Degree of Freedoms and Larger Range of Motion for Hand Rehabilitation

气动人工肌肉驱动的机器人控制方法研究现状概述

串联弹性驱动器设计、建模及在机器人上的应用

Nonlinear Sliding Mode Tracking Control of Underactuated Tower Cranes

Anti-sway control of an overhead crane with persistent disturbances by Lyapunov method

Double time-scale robust flight control system design for a small-scale unmanned helicopter

研究方向