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Actuators
Special Issues
Advance Control Research for Underactuated Robot Systems
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Advance Control Research for Underactuated Robot Systems

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Control Systems".

Deadline for manuscript submissions: closed (15 December 2023) | Viewed by 9098

Special Issue Editors

Dr. He Chen

E-Mail Website
Guest Editor
School of Artificial Intelligence, Hebei University of Technology, Tianjin 300401, China
Interests: robotics; underactuated systems; cranes; wheeled mobile robots; constrained control
Special Issues, Collections and Topics in MDPI journals
Dr. Yinan Wu

E-Mail Website
Guest Editor
College of Artificial Intelligence, Nankai University, Tianjin 300350, China
Interests: atomic force microscopy; piezoelectric actuator; micro robot; modeling and identification; nonlinear control
Special Issues, Collections and Topics in MDPI journals
Dr. Yougang Sun

E-Mail Website
Guest Editor
Institute of Rail Transit, Tongji University, Shanghai 201804, China
Interests: maglev trains; offshore cranes; quay cranes and nonlinear control with applications to mechatronic systems
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Underactuated robot systems, with a greater number of degrees of freedom than the independent available actuators, have received abundant attention from the modern industrial field. Typical underactuated robot systems, including aircrafts, underactuated manipulators, cranes, nonholonomic mobile robots, underactuated rotorcrafts, vessels, ball and beam systems, flexible systems, Pendubot, Acrobot, and TORA systems, etc., play an increasingly important role in real-world applications with the rise of manufactures and technological developments. However, due to the underactuated property, the control difficulty of underactuated robot systems is usually high with limited research and lots of open and challenging problems remain to be solved, which is regarded as one of the most challenging topics in the nonlinear control field, since the actuated dynamics and the underactuated ones are usually nonlinearly coupled.

This Special Issue welcomes the research on the control of underactuated robot systems that could effectively improve the performance of the system by open-loop control schemes or closed-loop ones. We believe that this Special Issue will contribute a practical and comprehensive forum for exchanging novel research ideas or empirical practices that span the modeling, simulation, experiment and control of underactuated robot systems.

Potential topics include but are not limited to:

  • Designing and modeling of practical underactuated robot systems
  • Trajectory planning
  • Adaptive control
  • Sliding mode control
  • Intelligent control
  • Fault diagnostics
  • Other related topics on underactuated robot systems

Dr. He Chen
Dr. Yinan Wu
Dr. Yougang Sun
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. Actuators 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.

Keywords

  • wheeled mobile robots
  • unnamed aerial vehicle
  • autonomous underwater vehicle
  • remotely operated vehicle
  • network robots
  • unmanned robots
  • cranes

Published Papers (5 papers)

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Research

19 pages, 2156 KiB  
Article
Tracking Control of Unforced and Forced Equilibrium Positions of the Pendubot System: A Nonlinear MHE and MPC Approach
by Martin Gulan, Michal Salaj and Boris Rohaľ-Ilkiv
Actuators 2023, 12(9), 343; https://doi.org/10.3390/act12090343 - 26 Aug 2023
Viewed by 992
Abstract
This paper presents a unified control scheme of the Pendubot based on nonlinear model predictive control (NMPC) and nonlinear moving horizon estimation (NMHE) with the objective of point-to-point tracking its unstable unforced and ultimately forced equilibrium positions. In order to implement it on [...] Read more.
This paper presents a unified control scheme of the Pendubot based on nonlinear model predictive control (NMPC) and nonlinear moving horizon estimation (NMHE) with the objective of point-to-point tracking its unstable unforced and ultimately forced equilibrium positions. In order to implement it on this fast, underactuated mechatronic system, we employ the Gauss–Newton real-time iteration scheme tailored to obtain the efficient solution of the underlying nonlinear optimization problems via sequential quadratic programming. The control performance is experimentally assessed on a real-world laboratory setup featuring an execution timing analysis and hints how to further improve the computational efficiency of the proposed nonlinear estimation control scheme. Even nowadays, the number of practical NMPC applications in the millisecond range is still rather limited, and the presented NMHE-based NMPC of the Pendubot thus also represents a unique case study for control practitioners. Full article
(This article belongs to the Special Issue Advance Control Research for Underactuated Robot Systems)
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11 pages, 1657 KiB  
Article
Modeling of Underactuated Ball and Beam System—A Comparative Study
by Grzegorz Gembalczyk, Paweł Domogała and Kamil Leśniowski
Actuators 2023, 12(2), 59; https://doi.org/10.3390/act12020059 - 29 Jan 2023
Cited by 3 | Viewed by 2036
Abstract
The article presents a comparison of the methods of modeling the underactuated ball and beam system. This study was carried out to select a model suitable for the development of a control system using the model-based design methodology. Firstly, the approach commonly used [...] Read more.
The article presents a comparison of the methods of modeling the underactuated ball and beam system. This study was carried out to select a model suitable for the development of a control system using the model-based design methodology. Firstly, the approach commonly used in research was verified. It was also examined whether it is important to take into account the eccentric fixation in these models. An original model taking into account friction resistance was also proposed. The considered models were simulated in Matlab/Simulink software environments and verified in reality. The obtained results were compared and analyzed. Full article
(This article belongs to the Special Issue Advance Control Research for Underactuated Robot Systems)
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16 pages, 4445 KiB  
Communication
An Improved Super-Twisting Sliding Mode for Flexible Upper-Limb Exoskeleton
by Saihua Zhang, Xinghua Zhang and Zhenxing Sun
Actuators 2023, 12(1), 32; https://doi.org/10.3390/act12010032 - 9 Jan 2023
Cited by 4 | Viewed by 1238
Abstract
Aiming at the decrease of tracking accuracy caused by nonlinear friction and strong coupling of the flexible upper-limb exoskeleton, an improved super-twisting sliding mode controller (ISTSMC) is proposed. Compared with the conventional super twisted sliding mode controller (STSMC), this method can replace the [...] Read more.
Aiming at the decrease of tracking accuracy caused by nonlinear friction and strong coupling of the flexible upper-limb exoskeleton, an improved super-twisting sliding mode controller (ISTSMC) is proposed. Compared with the conventional super twisted sliding mode controller (STSMC), this method can replace the switching function under the integral term with a nonsmooth term, resulting in a faster response, less vibration when performing trajectory tracking, and reduced steady-state error. The introduction of the nonsmooth term causes the controller to have a stronger anti-interference ability. At the same time, the parameters of the ISTSMC can be adjusted in order to achieve the expected control performance. The effectiveness and feasibility of the proposed control algorithm are verified through experiments. Full article
(This article belongs to the Special Issue Advance Control Research for Underactuated Robot Systems)
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11 pages, 531 KiB  
Communication
Robust Stabilization of Underactuated TORA System Based on Disturbance Observer and Fixed-Time Sliding Mode Control Method
by Qixuan Feng, Ancai Zhang, Xinghui Zhang, Guocheng Pang and Zhi Liu
Actuators 2022, 11(10), 271; https://doi.org/10.3390/act11100271 - 22 Sep 2022
Cited by 1 | Viewed by 1699
Abstract
A translational oscillator with a rotational actuator (TORA) is an underactuated nonlinear mechanical system with two degrees of freedom (DOF). This paper concerns the robust stabilization control problem for the system with multiple external disturbances. First, a disturbance observer is constructed based on [...] Read more.
A translational oscillator with a rotational actuator (TORA) is an underactuated nonlinear mechanical system with two degrees of freedom (DOF). This paper concerns the robust stabilization control problem for the system with multiple external disturbances. First, a disturbance observer is constructed based on the internal nonlinear dynamic behavior of the system. Second, a robust stabilization controller is designed by the estimated disturbances and the fixed-time sliding mode control method. The controller realizes the global robust stabilization control objective of the TORA system, and the stability of both disturbance observer and robust closed-loop control system are analyzed using the Lyapunov theorem. Finally, the effectiveness of the theoretical results are verified by numerical experiments. Full article
(This article belongs to the Special Issue Advance Control Research for Underactuated Robot Systems)
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17 pages, 1158 KiB  
Article
LESO-Based Nonlinear Continuous Robust Stabilization Control of Underactuated TORA Systems
by Yihao Wang, Changzhong Pan, Jinsen Xiao, Zhijing Li and Chenchen Cui
Actuators 2022, 11(8), 220; https://doi.org/10.3390/act11080220 - 4 Aug 2022
Cited by 1 | Viewed by 1794
Abstract
In this paper, we consider the robust stabilization control problem of underactuated translational oscillator with a rotating actuator (TORA) system in the presence of unknown matched disturbances by employing continuous control inputs. A nonlinear continuous robust control approach is proposed by integrating the [...] Read more.
In this paper, we consider the robust stabilization control problem of underactuated translational oscillator with a rotating actuator (TORA) system in the presence of unknown matched disturbances by employing continuous control inputs. A nonlinear continuous robust control approach is proposed by integrating the techniques of backstepping and linear extended state observer (LESO). Specifically, based on the backstepping design methodology, a hyperbolic tangent virtual control law is designed for the first subsystem of the cascaded TORA model, via which an integral chain error subsystem is subsequently constructed and the well-known LESO technique is easy to implement. Then, an LEO is designed to estimate the lumped matched disturbances in real-time, and the influence of the disturbances is compensated by augmenting the feedback controller with the disturbance estimation. The convergence and stability of the entire control system are rigorously proved by utilizing Lyapunov theory and LaSalle’s invariance principle. Unlike some existing methods, the proposed controller is capable of generating robust and continuous control inputs, which guarantee that both the rotation and translation of TORA systems are stabilized at the origin simultaneously and smoothly, attenuating the influence of disturbances. Comparative simulation results are presented to demonstrate the effectiveness and superior control performance of the proposed method. Full article
(This article belongs to the Special Issue Advance Control Research for Underactuated Robot Systems)
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