2025 July - 56 articles
The space flexible netted pocket capture system provides a flexible and stable solution for capturing non-cooperative space objects. This paper investigates the control problem for the capture of non-cooperative targets undergoing motion. A dynamic m...
This paper focuses on the integrated modeling and disturbance rejection of the aerial work quadrotor with a robotic arm. First, to address the issues of model incompleteness and parameter uncertainty commonly encountered in traditional Newton–E...
The robotic exploration of space began only five decades ago, and yet in the intervening years, a wide and diverse ecosystem of robotic explorers has been developed for this purpose. Such devices have greatly benefited from miniaturization trends and...
Langevin ultrasonic transducers, also known as Tonpilz transducers, are widely used in high-power ultrasonic applications, including underwater sonar arrays, ultrasonic cleaning, and sonication devices. Traditionally designed for narrowband operation...
The new generation of robots (Industry 5.0 and beyond) is expected to be accompanied by the massive introduction of autonomous and cooperative agents in our society, both in the industrial and service sectors. Cooperation with humans will be simplifi...
Series elastic actuators (SEAs) represent a key technological solution to enhance safety, performance, and adaptability in robotic devices for physical training. Their ability to decouple the rigid actuator’s mechanical impedance from the load,...
In this paper, a hybrid flying robot that utilizes water thrust and aerial propeller actuation is proposed and analyzed, with the aim of applications in hazardous tasks in the marine field, such as firefighting, ship inspections, and search and rescu...
This study presents a quasi-static optimization framework for the pressure-based control of a multi-segment soft continuum manipulator. The proposed method circumvents traditional curvature and length-based modeling by directly identifying the quasi-...
This paper presents the development of a fuzzy-PID control able to adapt to several robot–patient interaction modes by monitoring patient evolution during the rehabilitation procedure. This control system is designed to provide targeted rehabil...
The fixed-time trajectory tracking control problem of the uncertain nonlinear Euler–Lagrange system is studied. To ensure the fast, high-precision trajectory tracking performance of this system, a non-singular terminal sliding-mode controller b...
Soft continuum robots are constructed from soft and compliant materials and can provide high flexibility and adaptability to various applications. They have theoretically infinite degrees of freedom (DOFs) and can generate highly nonlinear behaviors,...
As electric vehicles (EVs) continue to advance toward widespread adoption, innovations in power electronics are playing a pivotal role in improving efficiency, performance, and sustainability. This review presents recent progress in bidirectional con...
This paper presents some of the most significant findings in the design of a hydraulic servomechanism for flight controls, which were primarily achieved by the first author during his activity in an aviation institute. These results are grouped into...
This study presents a computational fluid dynamics (CFDs) investigation of the hydrodynamic behavior of surface-textured lateral bushings in external gear pumps (EGPs), emphasizing the effects of combined sliding and squeezing motions within the lubr...
The permanent magnet electrodynamic suspension system (PMEDS) has demonstrated significant advantages in high-speed and ultra-high-speed applications due to its simple structure, low cost, and stable levitation force. However, the weak damping charac...
This paper presents a model predictive control (MPC)-enabled disturbance-rejection controller approach for a pneumatic manipulator system subjected to complex nonlinear terms within the system. To facilitate the handling of the complex nonlinear term...
This review provides a comprehensive analysis of recent advancements in lower limb exoskeleton systems, focusing on applications, control strategies, hardware architecture, sensing modalities, human-robot interaction, evaluation methods, and technica...
Robotic-assisted therapy is an increasingly vital approach for upper-limb rehabilitation, offering consistent, high-intensity training critical to neuroplastic recovery. However, current control strategies often lack robustness against uncertainties...
Underwater exploration is vital for advancing scientific understanding of marine ecosystems, biodiversity, and oceanic processes. Autonomous underwater vehicles and sensor platforms play a crucial role in continuous monitoring, but their operational...
This paper presents a distributed adaptive formation control strategy for a multiple near-space vehicles (NSVs) system operating under unknown input constraints and external disturbances. In challenging near-space environments, the control system mus...
To meet the demand for submillimeter-level gripping capabilities in micro-grippers, an amplification mechanism based on a flexible four-bar linkage is proposed. The micro-gripper designed using this mechanism features a large gripping stroke in the m...
Stroke is one of the leading causes of long-term disability worldwide, often resulting in motor impairments that limit the ability to perform daily activities independently. Conventional rehabilitation exoskeletons, while effective, are typically rig...
Hydraulic excavators operate in harsh environments where direct measurement of actuator chamber pressures and boom displacement is often unreliable or infeasible. This study presents a novel control strategy that estimates actuator chamber pressures...
Tracking control of a quadrotor–slung load system is extremely challenging due to its under-actuation property, couple effects, and various uncertainties. This work proposes a composite backstepping control framework combining command filter co...
Altitude test facilities for aero-engines employ multi-chamber, multi-valve intake systems that require effective decoupling and strong disturbance rejection during transient tests. This paper proposes a coordinated active disturbance rejection contr...
This study investigates the external load and positional constraints’ impact on the accuracy and performance of an autonomous adaptive electrohydraulic actuator with pump control intended for mobile equipment. An actuator simulation model was d...
In order to solve the zoom delay issue for high-magnification zoom optical systems, a voice coil motor (VCM) is used to achieve rapid zooming. In this paper, the structural design of VCMs is systematically analyzed through magnetic field numerical co...
Pneumatic artificial muscles (PAMs) consist of an elastomeric bladder wrapped in a Kevlar braid. When inflated, PAMs expand radially and contract axially, producing large axial forces. PAMs are often utilized for their high specific work and specific...
This paper addresses the issues of sensor failures and actuator faults in mining tracked mobile vehicles (TMVs) operating in harsh environments by proposing a global fixed-time fault-tolerant control strategy based on a hierarchical unknown input obs...
Ensuring cybersecurity and health management is a fundamental requirement in modern chemical industry plants operating under the Industry 4.0 framework. Traditionally, these two concerns have been addressed independently, despite sharing multiple und...
As the prevalence of related diseases continues to rise, a corresponding increase in the demand for internal limiting membrane (ILM) peeling surgery has been observed. However, significant challenges are encountered in ILM peeling surgery, including...
An active rotor with trailing edge flaps (TEFs) is an effective method for helicopter vibration elimination. The nonlinear hysteresis of piezoelectric actuators used to drive TEFs can adversely affect helicopter vibration control performance. In this...
This research presents a method for improving the regenerative efficiency of interior permanent magnet synchronous motors (IPMSMs) used in traction applications such as electric vehicles. In conventional powertrain control, the maximum torque per amp...
This study introduces a rigid–flexible coupled constant force actuator integrated with Active Disturbance Rejection Control (ADRC) to tackle the rigidity–compliance trade-off in precision force-sensitive applications. The actuator utilize...
With the development of robotics, robots are playing an increasingly critical role in complex tasks such as flexible manufacturing, physical human–robot interaction, and intelligent assembly. These tasks place higher demands on the force contro...
Rehabilitation robotic systems have been developed to perform therapy with minimal supervision from a specialist. Hence, they require algorithms to assess and support patients’ motions. Artificial intelligence brings an opportunity to implement...
This paper presents a high-order model-based robust control strategy for a dual-motor road wheel actuating system in a steer-by-wire (SbW) architecture. The system consists of a belt-driven and a pinion-driven motor collaboratively actuating the road...
Hysteresis is a nonlinear phenomenon found in many physical systems, including soft viscoelastic actuators, where it poses significant challenges to their application and performance. Consequently, developing accurate hysteresis models is essential f...
This paper proposes a disturbance observer (DOB)-based robust force control framework for tendon-sheath mechanisms (TSMs) that transmit tension forces from the proximal to the distal end. A detailed physical model of the TSM system, where a motor act...
When in operation, ultra-high-speed elevators encounter transverse vibrations due to uneven guide rails and airflow disturbances, which can greatly undermine passenger comfort. To alleviate these adverse effects and boost passenger comfort, a gas&nda...
This paper presents a novel adaptive twisting sliding mode control strategy combined with a speed-sensorless cascade nonlinear observer for the high-performance control of linear induction motors (LIMs). The primary objective is to achieve accurate s...
In this work, we aimed to determine the nonlinear disturbance caused by cascaded coupling rigid–flexible deformation and friction in a direct-driven servo electric cylinder terminal positioning system (DDSEC-TPS) during feed motion of an interm...
The authors have designed a gyro-system for orientation (guidance) and stabilization, with two gimbals and a rotor in magnetic suspension (AMB—Active Magnetic Bearing) usable for self-guided rockets. The gyro-system (DGMSGG—double gimbal...
Autonomous race driving has emerged as a challenging domain for reinforcement learning (RL) applications, requiring high-speed control while adhering to strict safety constraints. Existing RL-based racing methods often struggle to balance performance...
Recently, as carbon emission regulations enforced by the International Maritime Organization (IMO) have become stricter and pressure from the World Trade Organization (WTO) to abolish tax-free fuel subsidies has increased, the demand for electric pro...
The hybrid maglev train exhibits advantages such as a large suspension gap, high load-to-weight ratio, and low suspension energy consumption. However, challenges, including unmodeled uncertainties and multi-point coupling interference in the suspensi...
Micronewton thrusters have a wide range of applications in the aerospace field, and the accuracy of micronewton thrust measurement is directly affected by environmental vibration. The cantilever beam is the core part of the microthrust measurement sy...
This study addresses the challenge of accurately modeling the dynamic behavior of industrial robots for precision manufacturing applications. Using a comprehensive experimental approach with modal impulse hammer testing and triaxial acceleration meas...
An electromechanical actuator system was used on a general aviation aircraft to automatically execute programmed test inputs for system identification and parameter estimation. The flight test campaign consisted of approximately 10 flight hours with...
This study addresses the heterogeneous formation control problem for cooperative unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) operating under input quantization constraints. A unified mathematical framework is developed to har...
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