2026 June - 76 articles
Robust disturbance rejection in voice coil motor (VCM) motion stages is often limited by model uncertainties and the difficulty of obtaining accurate plant inverses. To address this issue, this paper develops a data-based Youla parameterization metho...
This paper presents an on-load programmable configuration of individual dual active bridge modules on a single-core transformer for wide voltage range and multi-port DC-DC power conversion. The mathematical models of power delivery and control transf...
Industrial robotic arms are fundamental components of modern automated production lines, executing critical tasks such as welding, painting, and assembly. Such high-precision operations often require careful manual tool positioning during the initial...
The increasing penetration of renewable energy sources and converter-interfaced loads has intensified the need for fast and reliable grid-support services. Although electric vehicle (EV) battery chargers have emerged as promising resources for Vehicl...
In order to improve the speed regulation accuracy, dynamic response and operation robustness of an automatic guided vehicle (AGV) in a complex road disturbance environment, this paper studies an adaptive AGV speed regulation system based on EKF state...
To address the parameter coordination and system integration issues in nonlinear discrete-time cascade control systems, this paper proposes, for the first time, a novel collaborative PI-P controller design method. First, an augmented state-space mode...
A surface tension pump, a type of passive pumping method, can generate a gentle and low-flow liquid transport in microchannels without external equipment or tubing, even under microgravity conditions. However, its applicability is limited for long-te...
This study introduces the design process and fabrication method of a soft pneumatic silicone-based exosuit intended to assist human elbow extension and flexion movement for rehabilitation. First of all, an integrated fabrication method is developed t...
Recent advancements in Vision-Language Models (VLMs) have enabled robotic systems to leverage model-based understanding and reasoning over visual and linguistic inputs, offering a promising approach for interpreting user intent in human–robot i...
The Difference Equation Matrix Model (DEMM) is presented as an input–output Model Predictive Control (MPC) formulation derived from discrete difference equations. The proposed approach is compared with the widely used Dynamic Matrix Control (DM...
The motion of AC electromagnetic actuators exhibits complex electrical–magneto–mechanical coupling characteristics. A three-phase AC contactor is taken as the typical research object in this paper. Using the finite-element method (FEM) an...
This study investigates physics-informed and data-driven hybrid modeling strategies for an automotive-grade electrohydraulic (EH) semi-active damper system. Although deep sequence learning architectures such as Long Short-Term Memory (LSTM) networks...
Periodic and non-periodic disturbances significantly affect the tracking accuracy of servo systems. A dual-motor drive composite control strategy based on iterative learning feedforward control and super-twisting sliding mode observer is proposed. In...
This work presents an experimental comparison of three speed control strategies for a permanent magnet DC (PMDC) rover actuator implemented on a resource-constrained embedded microcontroller platform. The system operates under fixed-rate discrete con...
Gantry-type dual-drive feed systems are widely used in high-precision CNC machine tools, and their synchronization performance directly affects machining accuracy and operational stability. To reduce synchronization errors caused by load-position var...
Continuum robots offer inherent compliance and dexterity for operation in confined and unstructured environments; however, achieving hybrid multi-segment functionality typically requires application-specific redesign and tightly coupled architectures...
Nowadays, numerical simulation methods are advanced and widely used in industry, enabling the modeling of complex systems from printed circuit boards (PCBs) to full power converters. Among many isolated topologies, the phase-shift full-bridge (PSFB)...
Aiming at problems such as the reduced positioning accuracy and insufficient dynamic response caused by the inherent hysteresis nonlinearity of piezoelectric actuators, this paper proposes a hysteresis modeling and compensation method for piezoelectr...
This study proposes a canopy-adaptive TAD-IRRT* (target-biased sampling, artificial potential field, and dynamic step-size informed rapidly-exploring random tree star) algorithm to solve the collision-free 3D path-planning problem for a 6-DOF apple-h...
This study investigates the nonlinear dynamic response and chaos evolution of a shape memory alloy hybrid composite (SMAHC) actuator beam under coupled thermal, harmonic, and aerodynamic excitations. A reduced-order nonlinear dynamic model was develo...
This study presents numerical and experimental investigations of a voltage-controlled active preload adjustment system for an ultrasonic traveling wave piezoelectric motor intended for potential use in space-related systems. The proposed preload syst...
To address the strong coupling between trolley motion and payload swing, as well as the difficulty of determining optimal braking timing during emergency operations of overhead cranes in complex environments, a model-predictive braking control method...
The contact force between the ultrasound probe and human skin directly affects image quality, patient safety, and comfort. In infant developmental dysplasia of the hip (DDH) ultrasound examinations, higher force control precision is required, as infa...
Pneumatic pouch motors are soft actuators that contract when inflated. Their low cost and ease of fabrication make them ideal choices for disposable systems such as those used in robotic surgery. However, the dynamics of pouch motors are highly nonli...
The problem of path following control for underactuated Unmanned Surface Vehicles (USVs) is tackled in this work, and a scheme based on Predicted Adaptive Line-of-Sight (PALOS) is put forward. At the guidance level, prediction techniques and adaptive...
The foot structure plays a decisive role in the trafficability of legged robots on granular media. Traditional foot-ends (spherical, cylindrical, flat-bottomed) are prone to sinkage and slippage, resulting in unstable locomotion. To solve this proble...
Dual 6 degrees of freedom (6-DOF) series-parallel cooperative robot actuators are core execution components in modern intelligent manufacturing systems, which are widely used in high-end manufacturing scenarios such as aerospace precision assembly, l...
This study proposes a printed circuit board (PCB) stator pattern for alleviating the trade-off between DC copper loss and AC winding loss in a slotless axial flux permanent magnet motor (AFPM). The proposed pattern has a structure in which the width...
The AC rotary head, serving as a dual-axis direct-drive rotary actuation unit in five-axis CNC machine tools, integrates torque motors for A- and C-axis actuation, and its structural static and dynamic characteristics directly govern the actuation ac...
This study investigates the controllability of a hovering platform based on ion thrust generated through the Biefeld–Brown effect. The primary objective is to examine the feasibility of stabilizing a triangular structure under laboratory condit...
All real control systems are subject to uncertainties and disturbances, so feedback controllers have to be designed such that closed-loop systems possess the desired dynamic and steady-state responses in the presence of any allowable uncertainties an...
The underground caverns of pumped-storage power stations generally feature large inclination angles. During the bottom-up oblique excavation by hard-rock Tunnel Boring Machines (TBMs), the Anti-Back-Slip (ABS) support system is the core device ensuri...
Disabilities of the lower extremities significantly affect a person’s ability to perform activities of daily living. Many people have been affected by this type of disability due to birth disease or injury from accidents, strokes or even old ag...
The operational health state of motor bearings is critical to the operational safety of harbor portal slewing cranes. However, in harsh industrial environments with strong noise and time-varying rotational speeds, existing bearing fault diagnosis met...
Soft pneumatic actuators (SPAs) are widely used in applications requiring safe and compliant interaction; however, achieving bidirectional motion within a compact and predictable architecture remains a key challenge. Existing approaches typically rel...
This paper investigates a hierarchical fault diagnosis and cooperative fault-tolerant control framework for switched nonlinear systems. Initially, an analysis of fault recoverability based on an improved covariance matrix is incorporated into the fau...
Aiming at the problem that the loss and temperature rise of the pole-suspended rotor low-speed high-torque permanent magnet synchronous motor (LHPMSM) increase in the pursuit of high torque density, and the design cycle is prolonged due to the depend...
Inspired by the human hand, this work presents a hybrid rigid–soft gripper that achieves passive adaptability through a self-resetting granular jamming pouch integrated onto a 3-DOF cable-driven rigid skeleton. Seven fingertip configurations (r...
This paper presents a novel approach to design an attitude motion control strategy of a vehicle to mitigate lateral or longitudinal inertial forces acting on the passenger during cornering, braking, and acceleration maneuvers. The collaboration of ac...
Many older residential toilet designs may pose substantial biomechanical demands for older adults with reduced lower-extremity strength, as standard seat heights often require increased joint range of motion (ROM) and compensatory upper-limb support...
The hardware and software integration of intelligent vehicles is a complex system engineering with full-stack and full-domain integration, which exerts a significant impact on the cost of intelligentization of complete vehicles. This study firstly co...
Path planning for Unmanned Aerial Vehicles (UAV) in complex urban environments poses significant challenges for autonomous systems. This paper proposes a Multi-strategy Enhanced Multi-Objective Beluga Whale Optimization algorithm, termed MEMOBWO, to...
In high-performance applications of interior permanent magnet synchronous machines, critical emphasis is laid on torque characteristics of the design, especially average output torque and torque ripple. Consequently, various techniques of rotor step-...
Traffic object detection based on camera sensors is a critical task for autonomous vehicles. However, in nighttime conditions with adverse lighting, several challenges arise: blurred object edges, large-scale variations, and complex lighting conditio...
To address the application requirements of dynamic simulation for sudden deep pavement potholes, this study presents an automated cover plate control device that integrates concealment, rapid response, and high load-bearing capacity, thereby overcomi...
This paper investigates a class of electro-hydraulic servo systems with unknown nonlinear functions and parameters. To address the issues of modeling uncertainties and unmodeled dynamics, an adaptive robust nonlinear controller integrating neural net...
With the advancement of new energy technologies and the demand for intelligentization, hydraulic cylinders in crane booms are gradually being replaced by electric cylinders. However, electric cylinders may induce an initial retraction phenomenon duri...
Industrial robots are indispensable equipment in automated production lines and play a crucial role in advancing the development of intelligent manufacturing. Bearings are key components within robot joints. To ensure the precise execution of operati...
Time-varying delay and limited communication resources pose two fundamental challenges to the stability and efficiency of discrete-time cascade control systems (CCS). To address these issues, this paper presents, for the first time, the co-design of...
Bending actuators are key components in soft robotics and other engineering applications where compact, reversible, and biomimetic motion is required. Although many bending actuators have been identified, the literature remains fragmented, with most...
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