Tong Yang, Changda Fan, Yongchun Fang, Ning Sun*, Adaptive learning control for time-varying parameter pneumatic artificial muscle robots with force/torque perturbation and input delays, IEEE Transactions on Control Systems Technology, vol. 33, no. 6, pp. 2366-2377, Nov. 2025.

Qingxiang Wu, Zehao Qiu, Yize Ma, Tong Yang, Yongchun Fang, Ning Sun*, Crocodile-inspired soft robots with spatial bending leg actuators and coordinated locomotion planning for amphibious environments, IEEE Transactions on Industrial Electronics, vol. 72, no. 12, pp. 14553-14562, Dec. 2025.

Shuzhen Diao, Gendi Liu, Xinlin Zhang, Jing Zhao, Yanding Qin, Wei Sun, Ning Sun*, Velocity feedback-free synchronous control for pneumatic artificial muscle-actuated parallel robots with fractional-order hysteresis, IEEE Transactions on Industrial Electronics, vol. 72, no. 11, pp. 11725-11735, Nov. 2025.

Xinlin Zhang, Gendi Liu, Shuzhen Diao, Tong Yang, Yongchun Fang, Ning Sun*, Admittance-based output feedback fuzzy switching control for PAM-driven parallel robots via nonsingular terminal sliding mode, IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 14247-14259, April 2025.

Zhuoqing Liu, Tong Yang, Lu Zhou, Yongchun Fang, Ning Sun*, Fixed-time tracking control of 3-dimensional collaborative double boom cranes with obstacle avoidance and prescribed performance, IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 55, no. 6, pp. 4175-4187, June 2025.

Yuexuan Xu, Shuzhen Diao, Tong Yang, Xinlin Zhang, Ming Li, Yakun Gao, David Navarro-Alarcon, Ning Sun*, Double-loop fuzzy neural network-based fixed-time robust control for antagonistic PM-actuated wrist robots with motion constraints, IEEE Transactions on Fuzzy Systems,vol. 34, no. 2, pp. 665-678, Feb. 2026.

Zhuoqing Liu, Tong Yang, Yongchun Fang, Ning Sun*, Predefined-time synchronous control for 3-D dual boom cranes: Same-plane synchronization, different-plane coordination, and payload regulation, IEEE/ASME Transactions on Mechatronics.  doi

Haoqi Tang#, Qingxiang Wu#, Zhuoqing Liu, Yongchun Fang, Ning Sun*, Integral barrier function-based adaptive output feedback robust force control for pneumatic compliant end-effectors with complex hysteresis, IEEE Transactions on Industrial Electronics, vol. 72, no. 3, pp. 2977-2986, March 2025.  doi

Shuzhen Diao, Gendi Liu, Tong Yang, Menghua Zhang, Yanding Qin, Wei Sun, Ning Sun*, Finite-time synchronous motion control for pneumatic muscle-actuated parallel robots in Cartesian space, IEEE/ASME Transactions on Mechatronics, vol. 30, no. 3, pp. 2389-2400, Step. 2025.  doi

Gendi Liu, Shuzhen Diao, Zhuoqing Liu, Xinlin Zhang, Xue Xiao, Song Men, Ning Sun*, Practical finite-time compliant control for horizontal pneumatic artificial muscle systems under force-sensorless reflecting, IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 9515-9527, 2025.  doi

Qihang Wang#, Shuzhen Diao#, Gendi Liu, Tong Yang, Yongsheng Wang, Yanding Qin, Ning Sun* , Output feedback control for PAM-actuated parallel robots with interval type-2 fuzzy neural networks, IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 56, no. 1, pp. 606-616, Jan. 2026.

Tong Yang, Menghua Zhang, Wei Sun, Ning Sun*, Fully-actuated system approach-based neuroadaptive control for underactuated robots with state estimation and delay, IEEE Transactions on Cybernetics, vol. 55, no. 7, pp. 3234-3250, July 2025.

Meng Zhai, Tong Yang, Ming Li, Xuerui Jiao, Yongchun Fang, Ning Sun*, Adaptive neural network unified control for general MIMO underactuated systems with disturbances via modified normal forms, IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 19377-19391, July 2025.

Xinlin Zhang, Shuzhen Diao, Tong Yang, Yongchun Fang, Ning Sun*, LSTM-NN-enhanced tracking control for PAM-driven parallel robot systems with guaranteed performance, IEEE Transactions on Circuits and Systems I:Regular Papers, vol. 72, no. 7, pp. 3556-3569, July 2025.  doi

Tong Yang, Yuexuan Xu, Yongchun Fang, David Navarro-Alarcon, Song Men, Ning Sun*, Accelerated gradient-based neuroadaptive synchronization control for antagonistic PAM robot hands with obstacle avoidance and motion constraints, IEEE Transactions on Medical Robotics and Bionics, vol. 7, no. 1, pp. 377-391, Feb. 2025.   doi

Meng Zhai, Tong Yang, Qingxiang Wu, Shudong Guo, Ruiping Pang, Ning Sun*, Extended Kalman filtering-based nonlinear model predictive control for underactuated systems with multiple constraints and obstacle avoidance, IEEE Transactions on Cybernetics, vol. 55, no. 1, pp. 369-382, Jan. 2025. 

Xinlin Zhang, Ning Sun*, Gendi Liu, Tong Yang, Yongchun Fang, Hysteresis compensation-based intelligent control for pneumatic artificial muscle-driven humanoid robot manipulators with experiments verification, IEEE Transactions on Automation Science and Engineering, vol. 21, no. 3, pp. 2538-2551, July 2024.   doi

Qingxiang Wu, Ning Sun*,Tong Yang ,Yongchun Fang, Deep reinforcement learning-based control for asynchronous motor-actuated triple pendulum crane systems with distributed mass payloads, IEEE Transactions on Industrial Electronics, vol. 71, no. 2, pp. 1853-1862, Feb. 2024.

Qihang Wang, Tong Yang, Gendi Liu, Yanding Qin*, Yongchun Fang, Ning Sun*, Adaptive compensation tracking control for parallel robots actuated by pneumatic artificial muscles with error constraints, IEEE Transactions on Industrial Informatics, vol. 20, no. 2, pp. 1585-1595, Feb. 2024.

Zhuoqing Liu, Ning Sun*,Tong Yang, Gendi Liu, Yongchun Fang, Assembly-oriented finite-time coordinated control of underactuated dual rotary cranes for payload position and attitude regulation, IEEE Transactions on Automation Science and Engineering, vol. 21, no. 3, pp. 3678-3690, July 2024.

Tong Yang, Ning Sun*, Zhuoqing Liu, Yongchun Fang, Concurrent learning-based adaptive control of underactuated robotic systems with guaranteed transient performance for both actuated and unactuated motions, IEEE Transactions on Neural Networks and Learning Systems, vol. 35, no. 12, pp. 18133-18144, Dec. 2024.

Tong Yang, Meng Zhai, Yongchun Fang, Ning Sun*, Adaptive Fuzzy control of underactuated switched systems with disturbance observation and actuated/unactuated motion constraints, IEEE Transactions on Fuzzy Systems, vol. 32, no. 3, pp. 1195-1207, March 2024.

Shuzhen Diao, Gendi Liu, Zhuoqing Liu, Lu Zhou, Wei Sun, Yu Wang, Ning Sun*, Prescribed-time adaptive fuzzy control for pneumatic artificial muscle-actuated parallel robots with input constraints, IEEE Transactions on Fuzzy Systems, vol. 32, no. 4, pp. 2039-2051, Apr. 2024.

Tong Yang, Ning Sun*, Meng Zhai, Yongchun Fang, Qingxiang Wu, Data-based dual-loop learning control of underactuated systems with disturbance prediction and input-output constraints, IEEE Transactions on Artificial Intelligence, vol. 5, no. 7, pp. 3419-3430, July 2024.

Tong Yang, Ning Sun*, Meng Zhai, Yongchun Fang, Unactuated and actuated states simultaneously constrained optimal trajectory planning-based path-following control for underactuated robots, IEEE Transactions on Cybernetics, vol. 54, no. 9, pp. 5127-5140, Sep. 2024.

Xinlin Zhang, Ning Sun*, Gendi Liu, Tong Yang, Jun Yang*, Disturbance preview-based output feedback predictive control for pneumatic artificial muscle robot systems with hysteresis compensation, IEEE/ASME Transactions on Mechatronics, vol. 29, no. 5, pp. 3936-3948, Oct. 2024.

Meng Zhai, Shuzhen Diao, Tong Yang, Qingxiang Wu, Yongchun Fang, Ning Sun*, Adaptive fuzzy control for underactuated robot systems with inaccurate actuated states and unavailable unactuated states, IEEE Transactions on Automation Science and Engineering, vol. 22, pp. 1566-1578, 2025.

Zehao Qiu, Qingxiang Wu*, Zhuoqing Liu, Yongchun Fang, Ning Sun*, A new three - dimensional deformation pneumatic soft actuator with mutually vertical PneuNets, IEEE Transactions on Industrial Electronics, vol. 71, no. 12, pp. 16003-16012, Dec. 2024.

Gendi Liu, Shuzhen Diao, Tong Yang, Xinlin Zhang, Yongchun Fang, Ning Sun*, Supervisor learning control for compliant pneumatic artificial muscle robots with preassigned-time performance, IEEE Transactions on Systems, Man, and Cybernetics：Systems, vol. 54, no. 9, pp. 5352-5364, Sept. 2024.

Zhuoqing Liu, Tong Yang, Yongchun Fang, Ning Sun*, Optimal trajectory-based control of 3-D dual rotary cranes for payload dynamic regulation in complex environments, IEEE Transactions on Artificial Intelligence, vol. 5, no. 11, pp. 5452-5464, Nov. 2024.

Haosheng Sun, Qingxiang Wu, Huawang Liu, Yongchun Fang, Ning Sun*, Precise motion control for self-reconfiguration wave-like crawling robots in parallel connection with limited resources, IEEE Robotics and Automation Letters, vol. 9, no. 9, pp. 7883-7890, Sept. 2024.

Meng Zhai, Ning Sun*, Underactuated mechanical systems with both actuator and actuated/unactuated state constraints: A predictive control-based approach, IEEE/ASME Transactions on Mechatronics, vol. 28, no. 3, pp. 1359-1371, June 2023.

Yue Wang#, Tong Yang#, Meng Zhai, Yongchun Fang, Ning Sun*, Ship-mounted cranes hoisting underwater payloads: Transportation control with guaranteed constraints on overshoots and swing, IEEE Transactions on Industrial Informatics, vol. 19, no. 10, pp. 9968-9978, Oct. 2023   doi

Zhuoqing Liu, Ning Sun*, Optimal collaborative motion planning of dual boom cranes for transporting payloads to desired positions and attitudes, IEEE Transactions on Intelligent Transportation Systems, vol. 24, no. 6, pp. 6096-6110, June 2023.

Haoqi Tang, Zhuoqing Liu, Tong Yang, Lei Sun, Yongchun Fang, Xingjian Jing,Ning Sun*, Reinforcement-learning-based robust force control for compliant grinding via inverse hysteresis compensation, IEEE/ASME Transactions on Mechatronics, vol. 28, no. 6, pp. 3364-3375, Dec. 2023.

Tong Yang, Ning Sun*,  Adaptive optimal motion control of uncertain underactuated mechatronic systems with actuator constraints, IEEE/ASME Transactions on Mechatronics, vol. 28, no. 1, pp. 210-222, Feb. 2023.   doi

Gendi Liu, Ning Sun*, Reinforcement learning-based prescribed performance motion control of pneumatic muscle actuated robotic arms with measurement noises, IEEE Transactions on Systems, Man, and Cybernetics：Systems, vol. 53, no. 3, pp. 1801-1812, Mar. 2023.   doi

Yanding Qin, Haoqi Zhang, Xiangyu Wang, Ning Sun*, Jianda Han, Adaptive set-membership filter based discrete sliding mode control for pneumatic artificial muscle systems with hardware experiments,IEEE Transactions on Automation Science and Engineering, vol. 21, no. 2, pp. 1682-1694, April 2024.

Tong Yang, Ning Sun*, Yongchun Fang, Xin Xin, He Chen, New adaptive control methods for n-link robot manipulators with online gravity compensation: Design and experiments, IEEE Transactions on Industrial Electronics, vol. 69, no. 1, pp. 539-548, Jan. 2022.   doi

Tong Yang, Ning Sun*, Yongchun Fang, Adaptive fuzzy control for a class of MIMO underactuated systems with plant uncertainties and actuator deadzones: Design and experiments, IEEE Transactions on Cybernetics, vol. 52, no. 8, pp. 8213-8226, Aug. 2022.   doi

Tong Yang, Ning Sun*, Yongchun Fang, Adaptive fuzzy control for uncertain mechatronic systems with state estimation and input nonlinearities, IEEE Transactions on Industrial Informatics, vol. 18, no. 3, pp. 1770-1780, Mar. 2022.   doi

Dingkun Liang, Ning Sun*, Yiming Wu, Yiheng Chen, Yongchun Fang, Lianqing Liu, Energy - based motion control for pneumatic artificial muscle-actuated robots with experiments, IEEE Transactions on Industrial Electronics, vol. 69, no. 7, pp. 7295-7306, July 2022.    doi

Yu Fu, Ning Sun*, Tong Yang, Zehao Qiu, Yongchun Fang, Adaptive coupling anti - swing tracking control of underactuated dual boom crane systems, IEEE Transactions on Systems, Man, and Cybernetics：Systems, vol. 52, no. 7, pp. 4697-4709, July 2022.   doi

Dingkun Liang, Ning Sun, Yiming Wu, Gendi Liu, Yongchun Fang, Fuzzy-sliding mode control for humanoid arm robots actuated by pneumatic artificial muscles with unidirectional inputs, saturations, and dead zones, IEEE Transactions on Industrial Informatics, vol. 18, no. 5, pp. 3011-3021, May 2022.   doi

Yiming Wu, Ning Sun*, He Chen, Yongchun Fang, New adaptive dynamic output feedback control of double-pendulum ship-mounted cranes with accurate gravitational compensation and constrained inputs, IEEE Transactions on Industrial Electronics, vol. 69, no. 9, pp. 9196-9205, Sep. 2022.   doi

Tong Yang, Ning Sun*, Yongchun Fang, Neuroadaptive control for complicated underactuated systems with simultaneous output and velocity constraints exerted on both actuated and unactuated states, IEEE Transactions on Neural Networks and Learning Systems, vol. 34, no. 8, pp. 4488-4498, Aug. 2023.

He Chen, Ning Sun*, An output feedback approach for regulation of 5-DOF offshore cranes with ship yaw and roll perturbations, IEEE Transactions on Industrial Electronics, vol. 69, no. 2, pp. 1705-1716, Feb. 2022.   doi

Tong Yang#, Yiheng Chen#, Ning Sun*, Lianqing Liu*, Yanding Qin, Yongchun Fang, Learning-based error-constrained motion control for pneumatic artificial muscle - actuated exoskeleton robots with hardware experiments, IEEE Transactions on Automation Science and Engineering , vol. 19, no. 4, pp. 3700 - 3711, Oct. 2022.   doi

Zhuoqing Liu, Yu Fu, Ning Sun*, Tong Yang, Yongchun Fang, Collaborative antiswing hoisting control for dual rotary cranes with motion constraints, IEEE Transactions on Industrial Informatics, vol. 18, no. 9, pp. 6120-6130, Sep. 2022.   doi

Tong Yang, He Chen, Ning Sun*, Yongchun Fang, Adaptive neural network output feedback control of uncertain underactuated systems with actuated and unactuated state constraints, IEEE Transactions on Systems, Man, and Cybernetics：Systems, vol. 52, no. 11, pp. 7027-7043, Nov. 2022.   doi

Tong Yang, Xinlin Zhang, Yongchun Fang, Ning Sun*, Makoto Iwasaki, Observer-based adaptive fuzzy event-triggered control for mechatronic systems with inaccurate signal transmission and motion constraints, IEEE/ASME Transactions on Mechatronics, vol. 27, no. 6, pp. 5208-5221, Dec. 2022.

Tong Yang, Ning Sun*, He Chen, Yongchun Fang, Observer-based nonlinear control for tower cranes suffering from uncertain friction and actuator constraints with experimental verification, IEEE Transactions on Industrial Electronics, vol. 68, no. 7, pp. 6192-6204, July 2021.   doi

Yiming Wu, Ning Sun, He Chen, Yongchun Fang, Adaptive output feedback control for 5-DOF varying-cable-length tower cranes with cargo mass estimation, IEEE Transactions on Industrial Informatics, vol. 17, no. 4, pp. 2453-2464, Apr. 2021.   doi

Ning Sun ,Dingkun Liang ,Yiming Wu ,Yiheng Chen ,Yanding Qin ,Yongchun Fang , Adaptive control for pneumatic artificial muscle systems with parametric uncertainties and unidirectional input constraints, IEEE Transactions on Industrial Informatics , vol. 16, no. 2, pp. 969 - 979, Feb. 2020   doi

Ning Sun, Yu Fu, Tong Yang, Jianyi Zhang, Yongchun Fang, Xin Xin, Nonlinear motion control of complicated dual rotary crane systems without velocity feedback: Design, analysis, and hardware experiments, IEEE Transactions on Automation Science and Engineering, vol. 17, no. 2, pp. 1017-1029, Apr. 2020.   doi

Tong Yang#, Ning Sun#*, He Chen, Yongchun Fang, Motion trajectory-based transportation control for 3-D boom cranes: Analysis, design, and experiments, IEEE Transactions on Industrial Electronics, vol. 66, no. 5, pp. 3636-3646, May 2019.   doi

Tong Yang, Ning Sun*, He Chen, Yongchun Fang, Neural network-based adaptive antiswing control of an underactuated ship-mounted crane with roll motions and input dead zones, IEEE Transactions on Neural Networks and Learning Systems, vol. 31, no. 3, pp. 901-914, Mar. 2020.   doi

He Chen, Ning Sun*, Nonlinear control of underactuated systems subject to both actuated and unactuated state constraints with experimental verification, IEEE Transactions on Industrial Electronics, vol. 67, no. 9, pp. 7702-7714, Sep. 2020.   doi

Yiming Wu#, Ning Sun#*, Yongchun Fang, Dingkun Liang, An increased nonlinear coupling motion controller for underactuated multi-TORA systems: Theoretical design and hardware experimentation, IEEE Transactions on Systems, Man, and Cybernetics：Systems, vol. 49, no. 6, pp. 1186-1193, June 2019.   doi

Ning Sun, Tong Yang, He Chen, Yongchun Fang, Yuzhe Qian, Adaptive anti-swing and positioning control for 4-DOF rotary cranes subject to uncertain/unknown parameters with hardware experiments, IEEE Transactions on Systems, Man, and Cybernetics：Systems, vol. 49, no. 7, pp. 1309-1321, July 2019.   doi

Ning Sun, Tong Yang, Yongchun Fang, Yiming Wu, He Chen, Transportation control of double-pendulum cranes with a nonlinear quasi-PID scheme: Design and experiments, IEEE Transactions on Systems, Man, and Cybernetics：Systems, vol. 49, no. 7, pp. 1408-1418, July 2019.    doi

Ning Sun, Tong Yang, He Chen, Yongchun Fang, Dynamic feedback antiswing control of shipboard cranes without velocity measurement: Theory and hardware experiments, IEEE Transactions on Industrial Informatics, vol. 15, no. 5, pp. 2879-2891, May 2019.   doi

Ning Sun, Yiming Wu, He Chen, Yongchun Fang, Antiswing cargo transportation of underactuated tower crane systems by a nonlinear controller embedded with an integral term, IEEE Transactions on Automation Science and Engineering, vol. 16, no. 3, pp. 1387-1398, July 2019.    doi

Ning Sun, Yiming Wu, Xiao Liang, Yongchun Fang, Nonlinear stable transportation control for double-pendulum shipboard cranes with ship-motion-induced disturbances, IEEE Transactions on Industrial Electronics, vol. 66, no. 12, pp. 9467-9479, Dec. 2019.   doi

Ning Sun, Yongchun Fang, He Chen, Yiming Fu, Biao Lu, Nonlinear stabilizing control for ship-mounted cranes with ship roll and heave movements: Design, analysis, and experiments, IEEE Transactions on Systems, Man, and Cybernetics：Systems, vol. 48, no. 10, pp. 1781-1793, Oct. 2018.   doi

Ning Sun, Yongchun Fang, He Chen, Yiming Wu, Biao Lu, Nonlinear antiswing control of offshore cranes with unknown parameters and persistent ship-induced perturbations: Theoretical design and hardware experiments, IEEE Transactions on Industrial Electronics, vol. 65, no. 3, pp. 2629-2641, Mar. 2018.   doi

Ning Sun, Tong Yang, Yongchun Fang, Biao Lu, Yuzhe Qian, Nonlinear motion control of underactuated three-dimensional boom cranes with hardware experiments, IEEE Transactions on Industrial Informatics, vol. 14, no. 3, pp. 887-897, Mar. 2018.   doi

Ning Sun, Yiming Wu, Yongchun Fang, He Chen, Nonlinear antiswing control for crane systems with double-pendulum swing effects and uncertain parameters: Design and experiments, IEEE Transactions on Automation Science and Engineering, vol. 15, no. 3, pp. 1413-1422, July 2018.   doi

Ning Sun, Yongchun Fang, He Chen, Biao Lu, Amplitude-saturated nonlinear output feedback antiswing control for underactuated cranes with double-pendulum cargo dynamics, IEEE Transactions on Industrial Electronics, vol. 64, no. 3, pp. 2135-2146, Mar. 2017.   doi

Ning Sun, Yiming Wu, Yongchun Fang, He Chen, Nonlinear stabilization control of multiple-RTAC systems subject to amplitude-restricted actuating torques using only angular position feedback, IEEE Transactions on Industrial Electronics, vol. 64, no. 4, pp. 3084-3094, Apr. 2017.   doi

Ning Sun, Yiming Wu, Yongchun Fang, He Chen, Biao Lu, Nonlinear continuous global stabilization control for underactuated RTAC systems: Design, analysis, and experimentation, IEEE/ASME Transactions on Mechatronics, vol. 22, no. 2, pp. 1104-1115, Apr. 2017.   doi

Ning Sun, Yongchun Fang, He Chen, Biao Lu, Amplitude-saturated nonlinear output feedback antiswing control for underactuated cranes with double-pendulum cargo dynamics, IEEE Transactions on Industrial Electronics, vol. 64, no. 3, pp. 2135-2146, Mar. 2017.   doi

Ning Sun, Yongchun Fang, He Chen, Biao Lu, Yiming Fu, Slew/translation positioning and swing suppression for 4-DOF tower cranes with parametric uncertainties: Design and hardware experimentation, IEEE Transactions on Industrial Electronics, vol. 63, no. 10, pp. 6407-6418, Oct. 2016.   doi

Ning Sun, Yongchun Fang, He Chen, A new antiswing control method for underactuated cranes with unmodeled uncertainties: Theoretical design and hardware experiments, IEEE Transactions on Industrial Electronics, vol. 62, no. 1, pp. 453-465, Jan. 2015.

Ning Sun, Yongchun Fang, He Chen, Bo He, Adaptive nonlinear crane control with load hoisting/lowering and unknown parameters: Design and experiments, IEEE/ASME Transactions on Mechatronics, vol. 20, no. 5, pp. 2107-2119, Oct. 2015.

Ning Sun, Yongchun Fang, Nonlinear tracking control of underactuated cranes with load transferring and lowering: Theory and experimentation, Automatica, vol. 50, no. 9, pp. 2350-2357, Sep. 2014.

Ning Sun, Yongchun Fang, Xuebo Zhang, Energy coupling output feedback control of 4-DOF underactuated cranes with saturated inputs, Automatica, vol. 49, no. 5, pp. 1318-1325, May 2013.

Ning Sun, Yongchun Fang, New energy analytical results for the regulation of underactuated overhead cranes: An end-effector motion-based approach, IEEE Transactions on Industrial Electronics, vol. 59, no. 12, pp. 4723-4734, Dec. 2012.

Ning Sun, Yongchun Fang, Yudong Zhang, Bojun Ma, A novel kinematic coupling-based trajectory planning method for overhead cranes, IEEE/ASME Transactions on Mechatronics, vol. 17, no. 1, pp. 166-173, Feb. 2012.