Actuators, Volume 13, Issue 8

This paper presents a non-linear model predictive control approach for offset-free tracking and the rejection of piece-wise constant disturbances. The approach involves augmenting the system’s state vector with the integral of the tracking erro...

Interior permanent magnet synchronous machines (IPMSMs) are widely used as traction motors in the electric drive-train because of their high torque-per-ampere characteristics and potential for wide field weakening operation to expand the constant pow...

An ultra-high-speed electric air compressor (UHSEAC) generates a load torque component during operation, leading to unstable output. As air passes through the UHSEAC, the air density changes significantly, resulting in increased uneven distribution....

In the present study, the capacity of two commercial NiTi and NiTiCu shape memory alloy (SMA) wires to develop work-generating (WG) and constrained-recovery (CR) shape memory effects (SMEs), as well as the capacity of a commercial NiTiFe super-elasti...

This paper aims to design a deformable mechanism to drive amphibious rotor blade deform from an aerial shape to an aquatic one. The Bennett four-bar and spherical four-bar mechanisms are used as the basic units (B unit and S unit) to form the Bennett...

In robotic manipulation, achieving efficient and reliable grasping in cluttered environments remains a significant challenge. This study presents a novel approach that integrates pushing and grasping actions using deep reinforcement learning. The pro...

Aiming at the problem of blind field of view caused by the change in the vehicle’s yaw angle when the self-driving vehicle is turning or changing lanes, this paper proposes a camera rotation strategy based on monocular active environment sensin...

This paper presents a design method of a suspension controller with an adaptive feedforward algorithm for ride comfort enhancement and motion sickness mitigation. Recently, it was shown that motion sickness is caused by combined heave and pitch motio...

As new advanced vehicles, the safety and stability of electromagnetic suspension maglev trains have always been a subject of concern. This study introduces the improved R index and τ-distance index into the performance evaluation of the suspensio...

The electromagnet module, as a fundamental component providing levitation force for maglev trains, plays a crucial role in ensuring the stability of train operation. However, vibrations can easily occur due to the mechanical coupling between the two...

Piezoelectric actuators and motors are increasingly essential for space applications due to their precision, compactness, and efficiency. This review explores their advantages over traditional actuators, emphasizing their minimal electromagnetic inte...

Since the steer-by-wire system removes the mechanical connection and uses electrical signals to drive the system, it has the disadvantage of being less stable in the failure of parts or systems. Therefore, in this paper, we present a methodology for...

With the development of robotics and vision measurement technology, the use of robots with line laser scanners for 3D scanning and measurement of parts has become a mainstream trend in the field of industrial inspection. Traditional scanning and meas...

A non-contact piezoelectric actuator is proposed. The non-contact power transfer between stator and rotor is realized by pneumatic transmission, characterized by fast response, long life, compact structure, and easy miniaturization and control. The s...

This paper introduces the prototype design, magnetic field analysis and experimental test of a double-rotating ferrofluid vane micropump with an embedded fixed magnet. The micropump is based on the working principle of a positive-displacement pump, a...

In several applications, the accuracy and robust performance of the control method for the speed of permanent magnet synchronous motors (PMSMs) is critical. Model uncertainties, caused by inaccurate model identification, decrease the accuracy of PMSM...

In this paper, the global stabilization problem of control systems with input saturation and multiple input delays is studied, and a new method is proposed to design nonlinear stabilization control laws. First, based on Luenberger’s canonical d...

Segmenting unseen object instances in unstructured environments is an important skill for robots to perform grasping-related tasks, where the trade-off between efficiency and accuracy is an urgent challenge to be solved. In this work, we propose a fa...

Body weight support (BWS) systems are crucial in gait rehabilitation for individuals incapacitated due to injuries or medical conditions. Traditional BWS systems typically employ either static mass–rope or dynamic mass–spring–damper...

Foam mixers are classified as low-pressure and high-pressure types. Low-pressure mixers rely on agitator rotation, facing cleaning challenges and complex designs. High-pressure mixers are simple and require no cleaning but struggle with uneven mixing...

To meet the strong coupling characteristics of the MSCSG deflection channel and the demand for high control accuracy, a two-degree-of-freedom deflection channel model is firstly established for the structure and working principle of the MSCSG; to mee...

In this paper, the problem of model-free adaptive predictive control (MFAPC) under denial-of-service attacks and quantization effects for high-speed trains with unknown models is investigated. Since the system model of the high-speed train is unknown...

Permanent magnet linear synchronous motors (PMLSMs) with stator segmented structures are widely used in the design of high-power propulsion systems. However, due to the inherent delay and segmented structure of the systems, there are parameter distur...

Robots with flexible joints are gaining importance in areas such as collaborative robots (cobots), exoskeletons, and prostheses. They are meant to directly interact with humans, and the emphasis in their construction is not on precision but rather on...

This paper presents the design, construction, and implementation of a soft robotic system comprising a continuum manipulator arm equipped with a compliant gripper. Three main objectives were pursued: (1) developing a soft silicone gripper as an alter...

Magnetorheological dampers (MRDs) are of great interest in engineering due to their continuously adjustable damping characteristics. Accurate models are essential for optimizing MRDs and analyzing system dynamics. However, conventional methods widely...

In our industry, active disturbance rejection control already has been used to enhance the performance of the electro-hydraulic servo systems, despite the fact that electro-hydraulic servo systems are usually reduced to first-order and second-order s...

Finite-time control theory has been widely used as a mathematical tool to design robust controllers. By manipulating the finite-time convergence proof of this theory, we developed a new control design appropriately tuned for the finite-time control o...

Peg-in-hole assembly, a crucial component of robotic automation in manufacturing, continues to pose challenges due to its strict tolerance requirements. To date, most conventional peg-in-hole assembly algorithms have been validated only within simula...

This study introduces an integrated structural optimization design method based on a BP neural network and NSGA-II multi-objective genetic algorithm. Initially, a two-dimensional axisymmetric finite element model of the Giant Magnetostrictive Actuato...

This paper proposes a “planning and control” scheme for a compliant mechanism (CM) based on a pneumatic actuator (PAC) with hysteresis nonlinearity and full-state constraints. In the planning part, a novel direct inverse model is presente...

Dual–motor drive is commonly used in heavy–duty robotic joint servo systems. However, the backlash inevitably affects joint accuracy. In this article, a variable bias torque control method is proposed for a dual–motor–driven r...

Actuators play a crucial role in modern distributed electric grids and renewable energy network architectures, implementing control actions based on sensor data to ensure optimal system performance and stability. This paper addresses the economic dis...

To provide the necessary theoretical models of sphere–soil interaction for the structural design, motion control, and simulation of spherical robots, this paper derives analytical expressions for traction force and driving torque when spherical...

The development of a piezoelectric linear motor is presented in this paper, based on the principle of alternating motion, to meet the acting stroke and accuracy requirements for the probe station’s motion servo system. By partitioning the stato...

Button mushrooms (Agaricus bisporus) grow in multilayered Dutch shelves with limited space between two shelves. As an alternative to conventional hand-picking, automated harvesting in recent times has gained widespread popularity. However, automated...

Pneumatic artificial muscles (PAMs) possess compliant properties desirable for certain applications such as prosthetics and robotic structures. However, this compliance along with their inherent nonlinear dynamics make them difficult to accurately mo...

Drawing inspiration from the intricate soft structures found in nature, soft actuators possess the ability to incrementally execute complex tasks and adapt to dynamic and interactive environments. In particular, the integration of sensor data feedbac...

In this paper, serial elastic actuators (SEAs) in conjunction with an accelerometer are proposed as force sensors to detect the intention of movement, and the SEA is proposed as a gentle actuator of a patient’s upper-limb exoskeleton. A smooth...

This paper introduces a current control method for permanent magnet synchronous motors (PMSMs) using a disturbance sliding mode observer (DSMO) in conjunction with a linear quadratic regulator (LQR). This approach enhances control performance, stream...

In this paper, we propose a double air chambers artificial muscle to eliminate the hysteresis in the extension and contraction movement of pneumatic artificial muscles. In this paper, the basic structure of the double air chambers artificial muscle i...

Bulk feeders that can automatically feed materials are one of the most commonly used vibration devices in the electronics industry. This study uses voice coil motors to design and implement a dual-axis bulk feeder and a quad-axis bulk feeder, allowin...

The unique ram air aerodynamic shape and control rope pulling course of the parafoil system make it difficult to realize its precise control. At present, the commonly used control methods of the parafoil system include proportional–integral&nda...

This paper deals with the synthesis and implementation of a controller for asymptotic tracking of the desired trajectory of a mobile robot. The mobile robot used for the experimental validation has eight motors with an inner control loop. Four steeri...

Intelligent robots are often used to explore various areas instead of humans. However, when the driving joint is damaged, the actuated robot degenerates to an underactuated robot, and the traditional control method is not suitable for the underactuat...

Magnetorheological (MR) fluids are known for their controllable characteristics under the influence of magnetic fields and, hence, widely used as semi-active actuators for vibration control. Regardless of advantages such as fast response time and rev...

The magnetoelectric (ME) antennas rely on the mechanical movement of magnetic dipoles, making it possible to break the constraints on physical dimensions decided by the wavelength of the electromagnetic wavelength. The ME antennas achieve super-low f...

This paper proposes a high torque density dual-stator flux-reversal-machine with multiple poles Halbach excitation (MPHE-DSFRM), which uses two pole pairs’ numbers (PPNs) of PM excitation on one outer stator tooth, and one PPN of PM excitation...