{"id":"https://openalex.org/W7135083269","doi":"https://doi.org/10.1109/taes.2026.3673318","title":"Robust and Safe Reinforcement Learning Based Control for High-Speed Morphing Vehicle","display_name":"Robust and Safe Reinforcement Learning Based Control for High-Speed Morphing Vehicle","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7135083269","doi":"https://doi.org/10.1109/taes.2026.3673318"},"language":null,"primary_location":{"id":"doi:10.1109/taes.2026.3673318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2026.3673318","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Haocheng Yang","orcid":"https://orcid.org/0009-0008-2547-5607"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haocheng Yang","raw_affiliation_strings":["College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0009-0008-2547-5607","affiliations":[{"raw_affiliation_string":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128902139","display_name":"Peng Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Wang","raw_affiliation_strings":["College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0003-0043-1487","affiliations":[{"raw_affiliation_string":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5127929503","display_name":"Guojian Tang","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guojian Tang","raw_affiliation_strings":["College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Aerospace Science and Engineering, National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32708034,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"62","issue":null,"first_page":"7838","last_page":"7854"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.21649999916553497,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10690","display_name":"Vibration Control and Rheological Fluids","score":0.21649999916553497,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11096","display_name":"Aeroelasticity and Vibration Control","score":0.15870000422000885,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.06909999996423721,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/morphing","display_name":"Morphing","score":0.6101999878883362},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4830000102519989},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.43529999256134033},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.42419999837875366},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.39579999446868896},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.39469999074935913},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.3433000147342682},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34299999475479126}],"concepts":[{"id":"https://openalex.org/C50637493","wikidata":"https://www.wikidata.org/wiki/Q1136781","display_name":"Morphing","level":2,"score":0.6101999878883362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5831999778747559},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4830000102519989},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47589999437332153},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.43529999256134033},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42660000920295715},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.42419999837875366},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.39579999446868896},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.39469999074935913},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3433000147342682},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34299999475479126},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.3156999945640564},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.3133000135421753},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3061999976634979},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.29919999837875366},{"id":"https://openalex.org/C82327864","wikidata":"https://www.wikidata.org/wiki/Q835100","display_name":"Intelligent control","level":2,"score":0.2948000133037567},{"id":"https://openalex.org/C2986542766","wikidata":"https://www.wikidata.org/wiki/Q2090494","display_name":"Vehicle safety","level":2,"score":0.2904999852180481},{"id":"https://openalex.org/C32283439","wikidata":"https://www.wikidata.org/wiki/Q1407014","display_name":"Radar tracker","level":3,"score":0.2874000072479248},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.2842000126838684},{"id":"https://openalex.org/C155386361","wikidata":"https://www.wikidata.org/wiki/Q1649571","display_name":"Process control","level":3,"score":0.2833000123500824},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.26829999685287476},{"id":"https://openalex.org/C167123822","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automatic control","level":2,"score":0.260699987411499},{"id":"https://openalex.org/C49240428","wikidata":"https://www.wikidata.org/wiki/Q3305953","display_name":"Vibration control","level":3,"score":0.25360000133514404}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2026.3673318","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2026.3673318","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3110979326","display_name":null,"funder_award_id":"92371203","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Large-scale":[0],"morphing":[1,17],"poses":[2],"a":[3,50,63,69,74,82,102,116,135],"great":[4],"challenge":[5],"to":[6,27,100,133,156,171],"the":[7,12,29,42,45,140,143,152,157,173,179],"safety":[8,43,76,136,144],"and":[9,32,52,125,165,176],"stability":[10],"of":[11,35,44,159,178],"control":[13,61,65,119],"system":[14,113],"for":[15,58],"high-speed":[16],"vehicles":[18],"(HMV).":[19],"Although":[20],"reinforcement":[21],"learning":[22],"(RL)":[23],"has":[24],"significant":[25],"potential":[26],"address":[28],"high":[30],"uncertainty":[31],"strong":[33],"nonlinearity":[34],"HMV":[36,59],"control,":[37],"it":[38],"cannot":[39],"strictly":[40],"guarantee":[41],"system.":[46],"In":[47],"this":[48],"paper,":[49],"robust":[51,117],"safe":[53],"RL":[54,71,84],"method":[55,79],"is":[56,97,123],"proposed":[57,180],"attitude":[60],"in":[62,104],"hybrid":[64],"framework":[66],"that":[67],"synergizes":[68],"data-driven":[70],"controller":[72,103,154],"with":[73,81,91,107,127],"model-driven":[75],"filter.":[77,137],"The":[78],"starts":[80],"model-free":[83],"called":[85],"proximal":[86],"policy":[87],"optimization":[88],"(PPO)":[89],"combined":[90],"gated":[92],"recurrent":[93],"units":[94],"(GRU),":[95],"which":[96],"then":[98],"trained":[99],"learn":[101],"an":[105,128],"environment":[106],"domain":[108],"randomization.":[109],"Next,":[110],"based":[111],"on":[112],"state":[114,160],"constraints,":[115],"higher-order":[118],"barrier":[120],"function":[121],"(HOCBF)":[122],"introduced":[124],"integrated":[126],"adaptive":[129],"disturbance":[130],"observer":[131],"(DOB)":[132],"create":[134],"To":[138],"simplify":[139],"solving":[141],"process,":[142],"filter":[145],"hierarchically":[146],"eliminates":[147],"unsafe":[148],"outputs":[149],"generated":[150],"by":[151],"RL-based":[153],"according":[155],"priority":[158],"constraints.":[161],"Finally,":[162],"comparative":[163],"simulations":[164,168],"Monte":[166],"Carlo":[167],"are":[169],"performed":[170],"verify":[172],"effectiveness,":[174],"robustness":[175],"generalization":[177],"method.":[181]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-03-13T00:00:00"}