2025 April - 42 articles
Most control system implementations rely on single structures optimized for specific performance criteria through rigorous derivation. While effective for their intended purpose, such controllers often underperform in areas outside their primary opti...
This paper presents a twisting controller (TC) based on a high-order sliding mode observer (HOSMO) for linear induction motors (LIMs), accounting for dynamic end effects. Based on the LIM model in the field-oriented frame, two extended subsystems are...
This work focuses on the small Bearingless Brushless DC Motor (BL-BLDCM), to solve the problems, such as larger commutation torque ripple and difficult solution of air-gap magnetic field, a novel BL-BLDCM structure with like-tangential parallel-magne...
This study presents the design of an intelligent robust controller for the 3-degree-of-freedom motion of an aerial robot using waterpower. The proposed controller consists of two parts: (1) an anti-windup super-twisting algorithm that provides stabil...
Speed control accuracy of gimbal servo systems for control moment gyroscopes (CMGs) is crucial for spacecraft attitude control. However, multiple disturbances from internal and external factors severely degrade the speed control accuracy of gimbal se...
To further solve the problems of commercial vehicle electronic parking brake systems under typical operating conditions, such as manual parking/release, emergency parking, ramp parking leakage, and so on, a new bistable electronic parking brake syste...
In this paper, a finite-time control method integrating a high-order disturbance observer (HODO) and a finite-time auxiliary system (FTAS) is proposed for maneuvering aircraft under disturbances and input constraints. To attenuate the adverse effects...
The emergence of soft robots provides new opportunities for developing phosphorite processing equipment. In this article, a soft pneumatic gripper (SPG) for gripping phosphorites is designed. On this basis, the dynamic modeling method and hysteresis...
This study presents a topological design and modeling framework for 3D-printed robotic grippers, tailored for combined precision and coarse robotics assembly. The proposed methodology leverages topology optimization to develop multi-scale-compliant m...
PID controllers have been dominant in the field of process control for a long time, but their control quality is not ideal and the difficulty of parameter tuning has always been a problem. MPCs have good control quality and robustness, but due to the...
In this paper, an event-triggered (ET) control strategy for a flapping-wing robot aircraft system (FWRA) based on high-gain observers is investigated. To solve the vibration problems of bending deformation and torsional deformation that may be encoun...
In this paper, a novel disturbance rejection approach is developed for a class of nonlinear systems, which incorporates the Kalman filter into the equivalent-input-disturbance (EID) structure. First, the EID-based control system and the configuration...
The geometric parameters of the Null-Flux coil (NFC) are crucial to the load capacity and economic viability of electrodynamic suspension (EDS) systems. This study investigates the influence of NFC geometry on the electromagnetic force characteristic...
A harmonic drive (HD) is a precision reduction device widely utilized in the core joints of high-end equipment such as spacecraft and robots. The design of an excellent tooth profile is the core challenge related to the performance of HD. This invest...
Multi-agent coverage control plays a crucial role in the modeling and coordination of complex systems, especially for teams of robots that, through frequent interactions with each other and their environment, can accomplish complex tasks in a distrib...
To enhance the automatic quality monitoring of bolt production, YOLOv10, Intel RealSense D435, and OpenCV were integrated to leverage GPU parallel computing capabilities for defect recognition and size measurement. To improve the model’s effect...
This paper presents a novel gait design for serpentine robots to smoothly wrap around and traverse vibration-damping hammers along overhead power lines. Cubic quasi-uniform B-spline curves are utilized to seamlessly transition between helical segment...
Autonomous navigation in indoor environments demands reliable perception and control strategies for nonholonomic mobile robots operating under geometric constraints. While visual servoing offers a promising framework for such tasks, conventional appr...
In the plate-type permanent magnet electrodynamic suspension (PMEDS) vehicle, expansion joints in discrete conductive plates trigger the eddy current truncation effect, thereby causing an attenuation in the levitation force. To address this issue, a...
A digital pulse width modulator (DPWM) is a key component in digital power electronics. Techniques like space vector modulation, along with rising switching frequencies from wide-bandgap power transistors, create a need for a center-aligned high-reso...
The X-ray defect detection system for weld seams in deep-sea manned spherical shells is nonlinear and complex, posing challenges such as motor parameter variations, external disturbances, coupling effects, and high-precision dual-motor coordination r...
The detrimental effects of low-frequency vibrations on the measurement accuracy of commercial high-precision instrumentation demand urgent resolution, particularly for instruments requiring <1 μm positioning stability. Conventional base-mounted...
Long-term vibrations endanger driver health and affect ride performance. Semi-active seat suspension systems equipped with magnetorheological (MR) dampers can effectively reduce vibrations transmitted to drivers, exhibiting excellent potential for wi...
Cooperative robotics relies on robust fault-tolerant control (FTC) to maintain resilience in dynamic environments, where actuators are pivotal to system reliability. This review synthesizes advancements in hybrid FTC, integrating mechanical redundanc...
The current global context demands the development of new solutions that prioritize energy efficiency, time optimization, safety, and sustainability. Urban transportation is one of the sectors undergoing significant transformation. Pursuing new urban...
To meet the mining requirements of the ’excavation–backfill–retention’ tunneling method for inter-panel coal pillars, this paper proposes an integrated ‘excavation–backfill–retention’ equipment system c...
The research object of this paper is a new type of multi-functional, air-gap-type, vehicle-mounted magnetic suspension flywheel battery. It is a new energy storage technology with a long working life, high energy conversion efficiency, multiple charg...
A high-gear-ratio anti-backlash 3K planetary gearbox with a preloaded flexure-based carrier is a suitable reducer for robot joints owning to its compact design and high transmission accuracy. However, to design such a 3K planetary gearbox with high b...
This study presents the development of a real-time simulation model for electromechanical actuators tailored to a hybrid iron bird for next-generation regional turboprop aircraft. This iron bird is aimed at integrating real and virtual components, en...
Plant tendrils exhibit intriguing tropism motions like bending, twisting, and coiling. Herein, we report the application of a liquid crystal elastomer (LCE) to make a light-sensitive and biomimetic coil to replicate behaviors of plant tendrils. The L...
Piezo-driven fast steering mirrors (PFSMs) are widely employed in high-precision beam steering and accurate tracking applications. However, the inherent hysteresis nonlinearity of piezoelectric actuators significantly degrades tracking accuracy. To a...
To overcome the limitations imposed by the low flexible angle of conventional robots, an active–passive variable stiffness elastic actuator (APVSA) is investigated and a nonlinear dynamic model for the APVSA is established, considering the fact...
The variable valve mechanism, as a critical component for the efficient and low-carbon development of internal combustion engines, faces increasingly stringent requirements regarding its driving efficiency, output force, precision, and energy consump...
A polymer-dispersed liquid crystal (PDLC) film is a device that can transition from opaque to transparent when electrically charged. These films can be used as actuators to control light levels in response to changing natural light. However, the curr...
In this work, we propose a lightweight pneumatic gripper that can grasp objects from either the outer or inner surfaces. Inspired by the Miura-ori pattern, the gripper is fabricated by laminating films with different cutting patterns to form the crea...
This work investigates the implementation of the Deep Deterministic Policy Gradient (DDPG) algorithm to enhance the target-reaching capability of the seven degree-of-freedom (7-DoF) Franka Pandarobotic arm. A simulated environment is established by e...
This paper presents an alarm system and teleoperation control framework, comparing ROS 1 and ROS 2 within a local network to mitigate the risk of robots failing to reach their goals during autonomous navigation. Such failures can occur when the robot...
Laver fluffy is an indispensable link in the processing of laver products. After fluffing, the laver acquires an appealing color, which is conducive to better marketability. During the primary mechanical processing of laver, a valve capable of rapid...
Pneumatic force control has a broad application background in the automation field, such as in industrial polishing, robotic grasping, and humanoid robots. Nonlinear hysteresis characteristics are one of the major factors that affect the feedforward...
A novel sliding mode control (SMC) strategy incorporating an adaptive super-twisting algorithm is developed for permanent magnet synchronous motors (PMSMs), effectively mitigating high-frequency chattering while enhancing external disturbance rejecti...
Direct current motors are widely used in a plethora of applications, ranging from industrial to modern electric (and intelligent) vehicle applications. Most recent operation methods of these motors involve drives that are designed based on an adequat...
The forward kinematics of the Stewart platform is crucial for precise control and reliable operation in six-degree-of-freedom motion. However, there are some shortcomings in practical applications, such as calculation precision, computational efficie...
