2026 August - 44 articles
Twin Rotor Multi-Input Multi-Output (TRMS) platforms combine strong aerodynamic cross-coupling, gravitational loading on the vertical axis, friction-dominated horizontal dynamics, and systematic mismatch between idealised models and laboratory hardwa...
The tracking control of servo mechanisms under physical constraints has consistently attracted research attention. This study focuses on developing an adaptive tracking control methodology for servo mechanisms subject to simultaneous state and input...
Accurate actuator modeling is critical for robust design validation and sim-to-real control transfer in humanoid robotics. Yet, in practice, developers rely on simplified actuator models built from sparse datasheets or offline system identification,...
For high-precision attitude adjustment tasks of a six-degree-of-freedom (6-DOF) wave-compensation parallel robot in shipborne applications, strong non-stationary wave excitations, abrupt load changes, and broadband disturbances jointly challenge trac...
A magnetic-levitation direct-drive oil-free scroll compressor (MLDD-OFSC) eliminates the anti-rotation mechanism to achieve oil-free operation. Still, its large-stroke planar motion introduces strong sensor–DOF coupling and air-gap-dependent st...
Conventional pneumatic bending actuators cannot perform the in-grasp twisting required to detach mature Agaricus bisporus from the cultivation substrate. Manual harvesting was characterized by measuring fingertip contact forces, fruiting-body rotatio...
Accurate dynamic parameters are required for model-based control of lower-limb exoskeletons, but limited excitation, transmission friction, and assembly-dependent uncertainty can degrade conventional estimates. This study examines a two-stage method...
Ultrasound examination for developmental dysplasia of the hip (DDH) in infants is highly dependent on operator experience, leading to inconsistent imaging quality and poor reproducibility between sonographers. This study proposes an autonomous roboti...
As population aging intensifies, older adults who are bedridden or have limited mobility often experience strong restraint and poor comfort during defecation nursing; therefore, an unrestrained defecation-assisting device is urgently required. This s...
Payload eccentricity and time-varying rope length can cause excessive inter-rope tension imbalance in a double-rope mine hoist. This study develops a safety-constrained semi-active differential-tension control method using dual magnetorheological dam...
Many practical dynamical models are inherently nonlinear and may exhibit complex growth conditions and uncertainties, which pose considerable challenges to controller design. In this paper, the tracking control issue for a category of high-order nonl...
Magnetorheological elastomers (MREs) exhibit magnetic-field-dependent stiffness and can, therefore, be used to tune the natural frequency of a dynamic vibration absorber through the applied coil current. This study evaluates the extension of a previo...
Friction hysteresis loops are critical for characterizing the nonlinear dynamic behavior of jointed structures. However, their complex nonlinear characteristics make efficient prediction challenging. In this study, a public high-frequency experimenta...
Independently rotating wheelsets (IRWs) are increasingly adopted in low-floor urban rail vehicles because they enable compact bogie layouts and improved curving performance. However, their limited natural self-centering capability can lead to lateral...
This paper proposes an adaptive fault-tolerant control strategy for nonlinear switched systems subject to state constraints and time-varying faults. Within a backstepping framework, multiple Lyapunov integral barrier functions are constructed to enfo...
Dielectric barrier discharge (DBD) plasma actuators have attracted increasing attention for anti-icing and de-icing applications due to their ability to combine surface heating and plasma-induced flow control. Their electro-thermal behavior is strong...
High-speed trains are prone to severe lateral vibrations induced by track irregularity excitations under complex operating conditions, which deteriorate ride comfort, reduce running stability, and accelerate wheel–rail wear. Existing lateral su...
Active flow control actuators are critical for improving aerodynamic performance in applications such as aircraft lift enhancement, drag reduction, and maneuverability improvement. However, the plasma synthesis jet actuator (PSJA) is limited by the c...
Soft robots are particularly suitable for in-pipe inspection, where locomotion must be achieved within confined, curved, and geometrically constrained environments without damaging the pipe wall. In this context, structural compliance is not only a s...
Soft pneumatic actuators are widely used in robotic manipulation due to their compliance and adaptability; however, their performance is typically fixed at the fabrication stage, limiting their suitability for applications requiring task-specific tun...
In this study, the hardware design, manufacturing, and control of a Two-Wheeled Inverted Pendulum Manipulator (TWIPM) are successfully achieved. The system comprises a two-degree-of-freedom independently driven chassis integrated with a three-degree-...
In-wheel motor drive systems can increase vehicle unsprung mass and thereby alter suspension dynamics. This study investigates the frequency-domain mechanisms through which an unsprung mass increment affects ride comfort, suspension working space, an...
Soft wearable actuators offer compliant, lightweight assistance for rehabilitation and motor support, but their translation beyond controlled laboratories depends on reliable sensing, fault management, and adaptive control. This systematic review map...
Advanced quadrotor control is validated predominantly in simulation or on 32-bit floating-point flight computers, leaving open whether comparable architectures are deployable on the low-cost 8-bit hardware common to small-scale platforms. This paper...
Ferrofluid seals provide non-contact operation, low friction, and strong sealing performance in high-speed rotating equipment and liquid-sealing systems. However, high speed, liquid contact, thermal loading, vibration, and eccentricity can cause ferr...
Predictive control of pulse-width modulation (PWM)-driven electro-hydraulic proportional valves is challenging because PWM commands affect main-spool motion through pilot-spool dynamics and control-chamber pressure build-up. This study develops a com...
End-to-end autonomous driving is an emerging technology and a prominent research focus in both industry and academia. By integrating perception, localization, decision-making, and control into a single model, end-to-end systems aim to streamline the...
In this work, an adaptive fixed-time dynamic triggered control issue for interconnected power systems under Denial-of-Service (DoS) attacks is investigated. Such attacks would impede the transmission of sensor signals in interconnected power systems,...
A flywheel energy storage system (FESS) is a device that employs a high-speed rotating flywheel for energy storage, where the motor is a core component enabling the energy conversion. Since the motor rotor is integrated onto the flywheel rotor (FR),...
To enhance the tracking accuracy and compliance of unmanned excavators, a force–position heterogeneous dual-loop nested cooperative control strategy is proposed. The outer loop employs admittance control to establish a dynamic mapping between c...
Cooperative guidance enables multiple flight vehicles to achieve various objectives through information sharing. Constraints are inevitable and pose new threats to cooperative safety, presenting formidable challenges to cooperative guidance technolog...
Small satellite constellations are becoming increasingly integrated with emerging services such as cloud computing and big data, which imposes strict requirements on compactness, light weight, low-power consumption, and high integration of space mech...
Slender cantilever precision positioning actuators are highly susceptible to ambient low-frequency micro-vibrations, which severely deteriorate dynamic positioning accuracy and operational stability. To address this challenge, this paper proposes a p...
This paper proposes a performance prediction process for a Brushless Direct Current (BLDC) motor used in drone propulsion by considering actual drive current characteristics and mechanical losses. Drone propulsion BLDC motors are required to achieve...
This paper presents the design, development, and preliminary proof-of-concept validation of a compact robotic knee exoskeleton for lower-limb assistive application. The proposed system addresses the trade-off between biomechanical compatibility, stru...
This paper investigates connectivity-preserving formation control for high-order multi-agent systems under switching distance-dependent topologies, actuator faults and external disturbances. The admissible interaction edges are selected by a switchin...
Correction of Funding [...]
Shape Memory Alloy Hybrid Composites (SMAHCs) are promising for morphing structures. However, their transition from laboratory laminates to reliable actuators is hindered by interfacial delamination and the complexity of running real-time control mod...
Position and motion control of robotic and mechanical systems have proven to be challenging tasks, primarily because of their multidimensional, coupled and highly nonlinear dynamics [...]
Morphing aerospace structures have attracted increasing attention as an efficient solution for improving aerodynamic efficiency by enabling continuous variation of wing geometry under different flight conditions. Among the available actuation technol...
Additive manufacturing (AM) has expanded the design space for actuator systems by enabling complex internal geometries, multimaterial architectures, functional gradients, embedded channels, and application-specific components that are difficult to re...
Electromagnetic linear actuators are widely used in applications requiring fast, repeatable, and controlled mechanical excitation. This work proposes and experimentally validates a current-controlled actuation methodology for generating controlled an...
This paper addresses the real-time trajectory tracking problem for the Twin Rotor MIMO System (TRMS), a nonlinear, strongly coupled, open-loop unstable aerodynamic laboratory benchmark whose six-dimensional state space is only partially observable th...
This paper presents a model and control framework for bearingless motors that is generalized for all types of combined-winding configurations with six phases. The aim of the paper is to facilitate the rapid implementation of MATLAB Simulink models of...
