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The Small Frontier: Trends Toward Miniaturization and the Future of Planetary Surface Rovers
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A Hybrid Flying Robot Utilizing Water Thrust and Aerial Propellers: Modeling and Motion Control System Design
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Advances in Langevin Piezoelectric Transducer Designs for Broadband Ultrasonic Transmitter Applications
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A Review of Bio-Inspired Actuators and Their Potential for Adaptive Vehicle Control
Journal Description
Actuators
Actuators
is an international, peer-reviewed, open access journal on the science and technology of actuators and control systems published monthly online by MDPI.
- Open Access— free for readers, with article processing charges (APC) paid by authors or their institutions.
- High Visibility: indexed within SCIE (Web of Science), Scopus, Inspec, and other databases.
- Journal Rank: JCR - Q2 (Engineering, Mechanical) / CiteScore - Q1 (Control and Optimization)
- Rapid Publication: manuscripts are peer-reviewed and a first decision is provided to authors approximately 19 days after submission; acceptance to publication is undertaken in 1.9 days (median values for papers published in this journal in the first half of 2025).
- Recognition of Reviewers: reviewers who provide timely, thorough peer-review reports receive vouchers entitling them to a discount on the APC of their next publication in any MDPI journal, in appreciation of the work done.
- Journal Cluster of Instruments and Instrumentation: Actuators, AI Sensors, Instruments, Micromachines and Sensors.
Impact Factor:
2.3 (2024);
5-Year Impact Factor:
2.4 (2024)
Latest Articles
Research on Inertial Force Suppression Control for Hydraulic Cylinder Synchronization of Shield Tunnel Segment Erector Based on Sliding Mode Control
Actuators 2025, 14(9), 449; https://doi.org/10.3390/act14090449 (registering DOI) - 11 Sep 2025
Abstract
As a critical component in tunnel construction, the segment erector of shield tunneling machines critically influences segment assembly quality and construction efficiency, largely determined by its dual-cylinder synchronization control. Addressing challenges such as dynamic coupling, nonlinear disturbances, and significant inertial force fluctuations inherent
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As a critical component in tunnel construction, the segment erector of shield tunneling machines critically influences segment assembly quality and construction efficiency, largely determined by its dual-cylinder synchronization control. Addressing challenges such as dynamic coupling, nonlinear disturbances, and significant inertial force fluctuations inherent in hydraulic cylinder synchronization under large-inertia loads and variable working conditions, this study proposes an optimized inertial force suppression strategy utilizing an improved sliding mode control (SMC). Mechanical and hydraulic dynamic models of the dual-cylinder lifting mechanism were established to analyze load distribution and force-arm variation patterns, thereby elucidating the influence of inertial forces on synchronization accuracy. Based on this analysis, an adaptive boundary-layer SMC, incorporating real-time inertial force compensation, was designed. This design effectively suppresses system chattering and enhances robustness. Simulation and experimental results demonstrate that the proposed method achieves synchronization errors within ±0.5 mm during step responses, reduces inertial force peaks by 50%, and exhibits significantly superior anti-interference performance compared to conventional PID control. This research provides theoretical foundations and practical engineering insights for high-precision synchronization control in shield tunneling, demonstrating substantial application value.
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(This article belongs to the Section Control Systems)
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Adaptive Event-Triggered Full-State Constrained Control of Multi-Agent Systems Under Cyber Attacks
by
Jinxia Wu, Pengfei Cui, Juan Wang and Yuanxin Li
Actuators 2025, 14(9), 448; https://doi.org/10.3390/act14090448 (registering DOI) - 11 Sep 2025
Abstract
For multi-agent systems under Denial-of-Service (DoS) attacks, a relative threshold strategy for event triggering and a state-constrained control method with prescribed performance are proposed. Within the framework of combining graph theory with the leader–follower approach, coordinate transformation is utilized to decouple the multi-agent
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For multi-agent systems under Denial-of-Service (DoS) attacks, a relative threshold strategy for event triggering and a state-constrained control method with prescribed performance are proposed. Within the framework of combining graph theory with the leader–follower approach, coordinate transformation is utilized to decouple the multi-agent system. Inspired by the three-way handshake technology of TCP communication, a DoS detection system is designed based on event-triggering. This system is used to detect DoS attacks, prevent the impacts brought by DoS attacks, and reduce the update frequency of the controller. Fuzzy logic systems are employed to approximate the unknown nonlinear functions within the system. By using a first-order filter to approximate the derivative of the virtual controller, the computational complexity issue in the backstepping method is addressed. Furthermore, The Barrier Lyapunov Function (BLF) possesses unique mathematical properties. When the system state approaches the pre-set boundary, it can exhibit a special variation trend, thereby imposing a restrictive effect on the system state. The Prescribed Performance Function (PPF), on the other hand, defines the expected performance standards that the system aims to achieve in the tracking task, covering key indicators such as tracking accuracy and response speed. By organically integrating these two functions, the system can continuously monitor and adjust its own state during operation. When there is a tendency for the tracking error to deviate from the specified range, the combined function mechanism will promptly come into play. Through the reasonable adjustment of the system’s control input, it ensures that the tracking error always remains within the pre-specified range. Finally, through Lyapunov analysis, the proposed control protocol ensures that all closed-loop signals remain bounded under attacks, with the outputs of all followers synchronizing with the leader’s output in the communication graph.
Full article
(This article belongs to the Special Issue Advanced Technologies in Actuators for Control Systems)
Open AccessArticle
An Adaptive Estimation Model for the States and Loads in Electro-Hydraulic Actuation Systems
by
Dimitar Dichev, Borislav Georgiev, Iliya Zhelezarov, Tsanko Karadzhov and Hristo Hristov
Actuators 2025, 14(9), 447; https://doi.org/10.3390/act14090447 (registering DOI) - 11 Sep 2025
Abstract
In this study, we introduce an advanced framework for state estimation in electro-hydraulic systems, utilizing a structurally adapted Kalman filter. The proposed model was designed to enhance estimation accuracy and robustness under dynamic load variations and evolving measurement conditions. A notable feature of
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In this study, we introduce an advanced framework for state estimation in electro-hydraulic systems, utilizing a structurally adapted Kalman filter. The proposed model was designed to enhance estimation accuracy and robustness under dynamic load variations and evolving measurement conditions. A notable feature of the approach is the algebraic resolution of one system state during each iteration, enabling the seamless inclusion of variables that are otherwise difficult to measure, without disrupting the model’s linear formulation. In addition, the dynamics of the load torque are empirically characterized through a regression-based model derived from experimental observations. The framework integrates adaptive mechanisms for updating the model and measurement error covariance matrices, facilitating the real-time accommodation of system nonlinearities and environmental changes. Experimental results are presented in different operating modes, reflecting characteristic dynamic movements. They show that the method reduced the root mean square error (RMSE) when estimating angular velocity between five and more than six times, depending on the mode. When evaluating the load torque, even in modes with a sharply changing load, the RMSE value remains stable below 0.05 Nm, which indicates the absence of systematic drift and high stability of the estimates. This confirms the stable operation of the algorithm in dynamic conditions and its applicability in real systems.
Full article
(This article belongs to the Section Control Systems)
Open AccessArticle
Application-Oriented Analysis of Hexaglide Pose Accuracy in Through-Hole Assembly of Electronic Components
by
Mikhail Polikarpov, Yousuf Mehmood and Jochen Deuse
Actuators 2025, 14(9), 446; https://doi.org/10.3390/act14090446 - 9 Sep 2025
Abstract
Hexaglide parallel manipulators are characterized by high accuracy and dynamic performance, which makes them suitable for industrial high-precision assembly tasks such as placement of electronic THT components on printed circuit boards. In this paper we describe an assembly system that comprises a Hexaglide
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Hexaglide parallel manipulators are characterized by high accuracy and dynamic performance, which makes them suitable for industrial high-precision assembly tasks such as placement of electronic THT components on printed circuit boards. In this paper we describe an assembly system that comprises a Hexaglide manipulator with vertical ball screws, moving printed circuit boards relative to stationary THT components. We evaluate the effects of the manufacturing tolerances of machine parts, such as bar length tolerance, ball screw axis position uncertainty, and ball screw axis orientation uncertainty, on Hexaglide end-effector pose accuracy using a geometric simulation study based on stochastic tolerance sampling. In the investigated configuration and under standard industrial tolerances, bar length inaccuracy and axis position uncertainty lead to significant position and rotation deviations for the Hexaglide end-effector in the horizontal plane that need to be compensated for by control algorithms to enable THT assembly using the Hexaglide prototype. The geometric simulation method applied in this paper can be used by designers of Hexaglide machines to study and evaluate different machine configurations.
Full article
(This article belongs to the Special Issue Industrial and Biomechanical Applications of Actuators and Robots and Eco-Sustainability)
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Developing an Energy-Efficient Electrostatic-Actuated Micro-Accelerometer for Low-Frequency Sensing Applications
by
Umar Jamil, Muhammad Sohaib Zahid, Nouman Ghafoor, Faisal Nawaz, Jose Raul Montes-Bojorquez and Mehboob Alam
Actuators 2025, 14(9), 445; https://doi.org/10.3390/act14090445 - 8 Sep 2025
Abstract
Micro-accelerometers are in high demand across many due to their compact size, low energy consumption, and excellent precision. Since gravity causes a large movement when the device is positioned vertically, measuring low gravitational acceleration is challenging. This study examines the intrinsic relationship between
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Micro-accelerometers are in high demand across many due to their compact size, low energy consumption, and excellent precision. Since gravity causes a large movement when the device is positioned vertically, measuring low gravitational acceleration is challenging. This study examines the intrinsic relationship between applied voltage levels and displacement in micro-accelerometers. The study introduces a novel design that integrates hybrid flexures, comprising both linear and angular configurations, with an out-of-plane overlap varying (OPOV) electrostatic actuation mechanism. This design aims to measure the micro-accelerometer’s movement and low frequency response. The proposed device with silicon material is designed and simulated using the IntelliSuite® software, considering its small dimensions and 25 µm thickness. The norm value of 28.0916 μN from gravity’s reaction forces on the body, a resonant frequency of 179.668 Hz at the first desired mode, and a maximum stress of 24.7 MPa were obtained through the electro-mechanical analysis. A comparison of the proposed design was conducted with other configurations, measuring a frequency of 179.668 Hz at a minimum downward displacement of 7.69916 µm under the influence of gravity without electrostatic mechanisms. Following this, an electrostatic actuation mechanism was introduced to minimize displacement by applying different voltage levels, including 1 V, 1.5 V, and 3 V. At 3 V, a significant improvement in displacement reduction was observed compared to the other applied voltages. Additionally, dynamic and sensitivity analyses were carried out to validate the performance of the proposed design further.
Full article
(This article belongs to the Special Issue Recent Advances in the Design and Applications for Magnetoelastic and Electroelastic Actuators)
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The Impact of Pump Cavity Gaps on the Flow Characteristics of Helical Mixed-Flow Pumps
by
Wei Han, Yucheng Chen, Tongqing Xue and Pengzheng Lei
Actuators 2025, 14(9), 444; https://doi.org/10.3390/act14090444 - 8 Sep 2025
Abstract
The performance of pump-jet propulsion systems is critically important in defense and marine applications. However, their optimization has encountered bottlenecks due to a lack of theoretical understanding of underlying flow mechanisms. This study investigates the influence of the pump cavity gap on the
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The performance of pump-jet propulsion systems is critically important in defense and marine applications. However, their optimization has encountered bottlenecks due to a lack of theoretical understanding of underlying flow mechanisms. This study investigates the influence of the pump cavity gap on the flow characteristics and performance of a helical mixed-flow pump using numerical simulations. The gap size is non-dimensionalized as a gap coefficient—defined as the ratio of pump cavity gap to blade thickness—with the inlet ring gap fixed at 0.2 mm. Results demonstrate that the gap coefficient significantly affects internal flow stability and energy loss. A gap coefficient of 0.15 effectively suppresses leakage and vortex formation, improving efficiency (peak efficiency reaches 75%) and head (1.9 m) under low-flow conditions. This configuration also promotes uniform pressure distribution on the impeller shaft surface and reduces turbulent kinetic energy and axial vorticity. In contrast, a smaller gap coefficient (0.125) exacerbates flow separation at high flow rates, while a larger value (0.2) increases leakage losses and degrades performance. The study elucidates correlations between the pump cavity gap and vortex evolution, pressure gradient, and turbulence distribution, providing theoretical support for the optimized design of helical mixed-flow pumps.
Full article
(This article belongs to the Special Issue Advanced Actuators and Magnetic Fluid Systems: Design, Control, and Applications)
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Design and Evaluation of a Torque-Controlled Ankle Exoskeleton Using the Small-Scale Hydrostatic Actuator: miniHydrA
by
Kyrian Staman and Herman van der Kooij
Actuators 2025, 14(9), 443; https://doi.org/10.3390/act14090443 - 8 Sep 2025
Abstract
A small-scale electro-hydrostatic actuator, termed miniHydrA, was developed based on biomechanical requirements for gait and integrated into an ankle exoskeleton. The key advantage of this actuator concept lies in its compact size and the low mass of its output stage, combined with the
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A small-scale electro-hydrostatic actuator, termed miniHydrA, was developed based on biomechanical requirements for gait and integrated into an ankle exoskeleton. The key advantage of this actuator concept lies in its compact size and the low mass of its output stage, combined with the ability to deliver high support torques, sufficient for full human assistance. During development, hydraulic cylinder leakage and friction were identified as key challenges. To address control requirements, a dedicated control strategy was proposed and implemented. The prototype exoskeleton was evaluated for joint torque tracking performance across a range of torques (0–120 Nm), both in benchtop tests and during treadmill walking trials. In benchtop experiments, zero-torque tracking was achieved with a mean absolute error ranging from 0.03 to 2.26 Nm across frequencies from 0 to 5 Hz. During treadmill walking, torque tracking errors ranged from 0.70 to 0.95 Nm, with no observable deviations in ankle joint kinematics among the three test subjects. These results show the feasibility of the miniHydrA for remote actuation. Compared to Bowden cables, commonly used in exoskeletons and exosuits, the proposed actuator concept offers two key advantages: it is better suited for high-torque applications, and its friction characteristics can be more accurately predicted and modeled, enabling more effective feedforward control.
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(This article belongs to the Special Issue Control of Hydraulic Robotic Manipulators)
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Modeling of the Dynamic Characteristics for a High-Load Magnetorheological Fluid-Elastomer Isolator
by
Yu Tao, Wenhao Chen, Feifei Liu and Ruijie Han
Actuators 2025, 14(9), 442; https://doi.org/10.3390/act14090442 - 5 Sep 2025
Abstract
To meet the vibration isolation requirements of engines under diverse operating conditions, this paper proposes a novel magnetorheological fluid-elastomer isolator with high load and tunable parameters. The mechanical and magnetic circuit structures of the isolator were designed and optimized through theoretical calculations and
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To meet the vibration isolation requirements of engines under diverse operating conditions, this paper proposes a novel magnetorheological fluid-elastomer isolator with high load and tunable parameters. The mechanical and magnetic circuit structures of the isolator were designed and optimized through theoretical calculations and finite element simulations, achieving effective vibration isolation within confined spaces. The dynamic performance of the isolator was experimentally evaluated using a hydraulic testing system under varying excitation amplitudes, frequencies, initial positions, and magnetic fields. Experimental results indicate that the isolator achieves a static stiffness of 3 × 106 N/m and a maximum adjustable compression load range of 105.4%. In light of the asymmetric nonlinear dynamic behavior of the isolator, an improved nine-parameter Bouc–Wen model is proposed. Parameter identification performed via a genetic algorithm demonstrates a model accuracy of 95.0%, with a minimum error reduction of 28.8% compared to the conventional Bouc–Wen model.
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(This article belongs to the Section Precision Actuators)
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Synchronous Leveling Control Method of Crane Vehicle Platform Based on Position–Force Coordination
by
Feixiang Xu, Haichao Hu, Shiyong Feng and Chen Zhou
Actuators 2025, 14(9), 441; https://doi.org/10.3390/act14090441 - 5 Sep 2025
Abstract
Leveling of the crane support platform plays a vital role in operational safety and lifting efficiency; it requires both precise horizontal positioning and the rational distribution of outrigger load. However, the current synchronous leveling methods mainly focus on displacement synchronization leveling while neglecting
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Leveling of the crane support platform plays a vital role in operational safety and lifting efficiency; it requires both precise horizontal positioning and the rational distribution of outrigger load. However, the current synchronous leveling methods mainly focus on displacement synchronization leveling while neglecting the control of outrigger load, resulting in the problem of individual outrigger overloading. To address this problem, a synchronous leveling control method with variable load constraints (SLCM-VLC) is proposed in this paper based on the framework of model predictive control. Firstly, the proposed method conducts independent outrigger modeling and decoupling of outriggers through adjacent cross-coupling; then a displacement synchronization controller (DSC) is designed to ensure efficient synchronous leveling. Secondly, a collaborative controller of displacement and force (DFCC) under variable load constraints is designed to overcome the limitations of traditional independent optimization. Subsequently, an extended state observer (ESO) is introduced to compensate for environmental disturbances and control deviations. Finally, the effectiveness of the proposed method is verified through a co-simulation using Matlab, Adams, and Solidworks. The results show that, compared with existing leveling control methods, the proposed method can achieve high precision and rapid leveling under smaller peak load, thereby extending the service life of the platform’s electric cylinders.
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(This article belongs to the Section Control Systems)
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Research on Linear Active Disturbance Rejection Control of Electrically Excited Motor for Vehicle Based on ADP Parameter Optimization
by
Heping Ling, Junzhi Zhang and Hua Pan
Actuators 2025, 14(9), 440; https://doi.org/10.3390/act14090440 - 4 Sep 2025
Abstract
In the three-motor hybrid architecture, the auxiliary drive uses electrically excited synchronous motor (EESM), which has the advantages of high torque density, wide speed range and strong anti-demagnetization ability. However, the strong electromagnetic coupling between the field winding and the armature winding leads
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In the three-motor hybrid architecture, the auxiliary drive uses electrically excited synchronous motor (EESM), which has the advantages of high torque density, wide speed range and strong anti-demagnetization ability. However, the strong electromagnetic coupling between the field winding and the armature winding leads to the difficulty of current control, and the traditional PID has limitations in dynamic response and immunity. In order to solve this problem, a linear active disturbance rejection control (LADRC) method for the rotor of EESM is proposed in this paper, linear extended state observer (LESO) is used to estimate and compensate the system internal and external disturbances (such as winding coupling and parameter perturbation) in real time. The method only uses the input and output of the system and does not depend on any mechanical parameters, so that the torque response is improved by 50%, and the steady-state fluctuation is reduced by 10.2%. In addition, an adaptive dynamic programming (ADP) parameter optimization strategy is proposed to solve the bandwidth parameter tuning problem of LADRC algorithm in complex operating conditions, and the related mathematical analysis of optimality properties is given. Finally, the proposed method is compared with the traditional PI controller in several operating conditions of EESM, and the effectiveness of the proposed method is validated by the corresponding results.
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(This article belongs to the Section Control Systems)
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Simulation-Based Testing of Autonomous Robotic Systems for Surgical Applications
by
Jun Lin, Tiantian Sun, Rihui Song, Di Zhu, Lan Liu, Jiewu Leng, Kai Huang and Rongjie Yan
Actuators 2025, 14(9), 439; https://doi.org/10.3390/act14090439 - 4 Sep 2025
Abstract
Autonomous surgery involves surgical tasks performed by a robot with minimal or no human involvement. Thanks to its precise automation, surgical robotics offers significant benefits in enhancing the consistency, safety, and quality of procedures, driving its growing popularity. However, ensuring the safety of
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Autonomous surgery involves surgical tasks performed by a robot with minimal or no human involvement. Thanks to its precise automation, surgical robotics offers significant benefits in enhancing the consistency, safety, and quality of procedures, driving its growing popularity. However, ensuring the safety of autonomous surgical robotic systems remains a significant challenge. To address this, we propose a simulation-based validation method to detect potential safety issues in the software of surgical robotic systems, complemented by a digital twin to estimate the gap between simulation and reality. The validation framework consists of a test case generator and a monitor for validating properties and evaluating the performance of the robotic system during test execution. Using a robotic arm for needle insertion as a case study, we present a systematic test case generation method that ensures effective coverage measurement for a three-dimensional, irregular model. Since no simulation can perfectly replicate reality due to differences in sensing and actuation, the digital twin bridges the gap between simulation and the physical robotic arm. This integration enables us to assess the discrepancy between virtual simulations and real-world operations by verifying whether the data from the simulation accurately predicts real-world outcomes. Through extensive experimentation, we identified several flaws in the robotic software. Co-simulation within the digital twin framework has highlighted these discrepancies that should be considered.
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(This article belongs to the Section Actuators for Robotics)
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Second- and Third-Order Stability Bounds for High-Order Linear Consensus on Directed Graph Topologies with Partial Relative State Information and Global/Local Gains
by
Eric A. Butcher and Mohammad Maadani
Actuators 2025, 14(9), 438; https://doi.org/10.3390/act14090438 - 3 Sep 2025
Abstract
A general high-order linear consensus protocol is proposed for coupling topologies defined by directed graphs with partial relative state information and a reference model with lobal/local gains. Necessary and sufficient second-order stability bounds for the cases of relative position feedback with reference velocity
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A general high-order linear consensus protocol is proposed for coupling topologies defined by directed graphs with partial relative state information and a reference model with lobal/local gains. Necessary and sufficient second-order stability bounds for the cases of relative position feedback with reference velocity and relative position and velocity feedback are then reviewed. Next, new necessary and sufficient stability bounds are obtained for third-order consensus for three cases of feedback of full and partial relative state information. The stability bounds obtained, unlike in prior studies, allow for the gains to be conveniently selected in a sequential manner and are shown to utilize those for second-order consensus. Comparisons with conservative stability bounds from previous studies are shown, and illustrative examples of the proposed consensus protocols and the obtained stability bounds are provided.
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(This article belongs to the Special Issue New Control Schemes for Actuators—2nd Edition)
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Neural Network Disturbance Observer-Based Adaptive Fault-Tolerant Attitude Tracking Control for UAVs with Actuator Faults, Input Saturation, and External Disturbances
by
Yan Zhou, Ye Liu, Jiaze Li and Huiying Liu
Actuators 2025, 14(9), 437; https://doi.org/10.3390/act14090437 - 3 Sep 2025
Abstract
A dual-loop fault-tolerant control scheme is investigated for UAV attitude control systems subject to actuator faults, input saturation, and external disturbances in this paper. In the outer loop of attitude angles, a nonlinear dynamic inversion controller is developed as baseline controller for fast
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A dual-loop fault-tolerant control scheme is investigated for UAV attitude control systems subject to actuator faults, input saturation, and external disturbances in this paper. In the outer loop of attitude angles, a nonlinear dynamic inversion controller is developed as baseline controller for fast response and is augmented by a neural network disturbance observer to enhance the adaptability and robustness. Considering input saturation, actuator faults, and external disturbances in the inner loop of attitude angle velocities, the unbalanced input saturation is first converted into a time-varying system with unknown parameters and disturbances using a nonlinear function approximation method. An L1 adaptive fault-tolerant controller is then introduced to compensate for the effects of lumped uncertainties including system uncertainties, actuator faults, external disturbances, and approximation errors, and the stability and performance boundaries are verified by Lyapunov theorem and L1 reference system. Some simulation examples are carried out to demonstrate its effectiveness.
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(This article belongs to the Section Control Systems)
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AI-Enhanced Model for Integrated Performance Prediction and Classification of Vibration-Reducing Gloves for Hand-Transmitted Vibration Control
by
Yumeng Yao, Wei Xiao, Alireza Moezi, Marco Tarabini, Paola Saccomandi and Subhash Rakheja
Actuators 2025, 14(9), 436; https://doi.org/10.3390/act14090436 - 3 Sep 2025
Abstract
This study presents a human-centric, data-driven modeling framework for the intelligent evaluation and classification of vibration-reducing (VR) gloves used in hand-transmitted vibration environments. Recognizing the trade-offs between protection and functionality, the integrated performance assessment incorporates three critical and often conflicting metrics: manual dexterity,
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This study presents a human-centric, data-driven modeling framework for the intelligent evaluation and classification of vibration-reducing (VR) gloves used in hand-transmitted vibration environments. Recognizing the trade-offs between protection and functionality, the integrated performance assessment incorporates three critical and often conflicting metrics: manual dexterity, grip strength, and distributed vibration transmissibility at the palm and fingers. Three independent experiments involving fifteen participants were conducted to evaluate the individual performance of ten commercially available VR gloves fabricated from air bladders, polymers, and viscoelastic gels. The effects of VR gloves on manual dexterity, grip strength, and distributed vibration transmission were investigated. The resulting experimental data were used to train and tune seven different machine learning models. The results suggested that the AdaBoost model demonstrated superior predictive performance, achieving 92% accuracy in efficiently evaluating the integrated performance of VR gloves. It is further shown that the proposed data-driven model could be effectively applied to classify the performances of VR gloves in three workplace conditions based on the dominant vibration frequencies (low-, medium-, and high-frequency). The proposed framework demonstrates the potential of AI-enhanced intelligent actuation systems to support personalized selection of wearable protective equipment, thereby enhancing occupational safety, usability, and task efficiency in vibration-intensive environments.
Full article
(This article belongs to the Special Issue Human-Centric Intelligent Actuation Systems: Innovations in Control, Sensing, and Multidisciplinary Applications)
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Robust Sliding Mode Motion Control for an Integrated Hydromechatronic Actuator
by
Dom Wilson, Andrew Plummer and Ioannis Georgilas
Actuators 2025, 14(9), 435; https://doi.org/10.3390/act14090435 - 3 Sep 2025
Abstract
Electro-hydraulic servoactuators have great potential in mobile robotics due to their robustness, high bandwidth and power density, but compared with electromechanical actuators, they can be inefficient and more difficult to integrate into systems. The Integrated Smart Actuator (ISA) developed by Moog Controls Ltd.
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Electro-hydraulic servoactuators have great potential in mobile robotics due to their robustness, high bandwidth and power density, but compared with electromechanical actuators, they can be inefficient and more difficult to integrate into systems. The Integrated Smart Actuator (ISA) developed by Moog Controls Ltd. is a hydromechatronic device that aims to address these issues by combining a novel efficient servovalve, cylinder, sensors and control electronics into a single component. The aim of this work was to develop a robust motion control algorithm that can make integration of the ISA into a robotic system straightforward by requiring minimal controller set-up despite variations in the load characteristics. The proposed controller is a sliding mode controller with a varying boundary layer that contains two robustness parameters and a single bandwidth parameter that defines the response. The controller outperforms a conventional high-performance linear controller in terms of tracking performance and its robustness to variations in the load mass and fluid bulk modulus. The response when the system was subject to some unachievable demand trajectories, such as large step demands, was found to be poor, and an online velocity, acceleration and jerk limited trajectory filter was demonstrated to rectify this issue. The successful implementation of a robust motion controller enables this highly novel integrated actuator to live up to its ‘smart’ epithet.
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(This article belongs to the Special Issue Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems—Second Edition)
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Model-Based Reinforcement Learning for Containing Malware Propagation in Wireless Radar Sensor Networks
by
Haitao Lin, Can Tian, Linman Chen, Daizhi Liao, Yunbo Wang and Yubo Hua
Actuators 2025, 14(9), 434; https://doi.org/10.3390/act14090434 - 2 Sep 2025
Abstract
To address malware containment challenges in WRSNs—where traditional integer-order models neglect propagation memory effects and standard reinforcement learning (RL) suffers from slow trial-and-error limitations—we propose the following: (1) a fractional-order VCISQ epidemic model capturing temporal dependencies for higher accuracy, and (2) a model-based
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To address malware containment challenges in WRSNs—where traditional integer-order models neglect propagation memory effects and standard reinforcement learning (RL) suffers from slow trial-and-error limitations—we propose the following: (1) a fractional-order VCISQ epidemic model capturing temporal dependencies for higher accuracy, and (2) a model-based Soft Actor–Critic (MBSAC) method, which integrates a learned transition model into an actor–critic architecture to predict future states from limited data, accelerating learning. Experiments confirm MBSAC outperforms RL baselines by reducing control overhead, hastening convergence, and enhancing robustness. It alleviates the rigidity of the traditional method and establishes a reward-driven safeguard for WRSNs.
Full article
(This article belongs to the Special Issue Intelligent Sensing, Control and Actuation in Networked Systems)
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Augmented Recursive Sliding Mode Observer Based Adaptive Terminal Sliding Mode Controller for PMSM Drives
by
Qiankang Hou, Bin Ma, Yan Sun, Bing Shi and Chen Ding
Actuators 2025, 14(9), 433; https://doi.org/10.3390/act14090433 - 2 Sep 2025
Abstract
Time-varying lumped disturbance and measurement noise are primary obstacles that restrict the control performance of permanent magnet synchronous motor (PMSM) drives. To tackle these obstacles, an adaptive nonsingular terminal sliding mode (ANTSM) algorithm is combined with augmented recursive sliding mode observer (ARSMO) for
[...] Read more.
Time-varying lumped disturbance and measurement noise are primary obstacles that restrict the control performance of permanent magnet synchronous motor (PMSM) drives. To tackle these obstacles, an adaptive nonsingular terminal sliding mode (ANTSM) algorithm is combined with augmented recursive sliding mode observer (ARSMO) for PMSM speed regulation system in this paper. Generally, conventional nonsingular terminal sliding mode (NTSM) controller adopts a fixed and conservative control gain to suppress the time-varying disturbance, which will lead to unsatisfactory steady-state performance. Without requiring any information of the time-varying disturbance in advance, a novel barrier function adaptive algorithm is utilized to adjust the gain of NTSM controller online according to the amplitude of disturbance. In addition, the ARSMO is emoloyed to estimate the total disturbance and motor speed simultaneously, thereby alleviating the negative impact of measurement noise and excessive control gain. Comprehensive experimental results verify that the proposed enhanced ANTSM strategy can optimize the dynamic performance of PMSM system without sacrificing its steady-state performance.
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(This article belongs to the Section Control Systems)
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A Modular Soft Gripper with Embedded Force Sensing and an Iris-Type Cutting Mechanism for Harvesting Medium-Sized Crops
by
Eduardo Navas, Kai Blanco, Daniel Rodríguez-Nieto and Roemi Fernández
Actuators 2025, 14(9), 432; https://doi.org/10.3390/act14090432 - 2 Sep 2025
Abstract
Agriculture is facing increasing challenges due to labor shortages, rising productivity demands, and the need to operate in unstructured environments. Robotics, particularly soft robotics, offers promising solutions for automating delicate tasks such as fruit harvesting. While numerous soft grippers have been proposed, most
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Agriculture is facing increasing challenges due to labor shortages, rising productivity demands, and the need to operate in unstructured environments. Robotics, particularly soft robotics, offers promising solutions for automating delicate tasks such as fruit harvesting. While numerous soft grippers have been proposed, most focus on grasping and lack the capability to detach fruits with rigid peduncles, which require cutting. This paper presents a novel modular hexagonal soft gripper that integrates soft pneumatic actuators, embedded mechano-optical force sensors for real-time contact monitoring, and a self-centering iris-type cutting mechanism. The entire system is 3D-printed, enabling low-cost fabrication and rapid customization. Experimental validation demonstrates successful harvesting of bell peppers and identifies cutting limitations in tougher crops such as aubergine, primarily due to material constraints in the actuation system. This dual-capability design contributes to the development of multifunctional robotic harvesters capable of adapting to a wide range of fruit types with minimal requirements for perception and mechanical reconfiguration.
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(This article belongs to the Special Issue Soft Actuators and Robotics—2nd Edition)
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Open AccessArticle
Intelligent Vehicle Driving Decisions and Longitudinal–Lateral Trajectory Planning Considering Road Surface State Mutation
by
Yongjun Yan, Chao Du, Yan Wang and Dawei Pi
Actuators 2025, 14(9), 431; https://doi.org/10.3390/act14090431 - 1 Sep 2025
Abstract
In an intelligent driving system, the rationality of driving decisions and the trajectory planning scheme directly determines the safety and stability of the system. Existing research mostly relies on high-definition maps and empirical parameters to estimate road adhesion conditions, ignoring the direct impact
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In an intelligent driving system, the rationality of driving decisions and the trajectory planning scheme directly determines the safety and stability of the system. Existing research mostly relies on high-definition maps and empirical parameters to estimate road adhesion conditions, ignoring the direct impact of real-time road status changes on the dynamic feasible domain of vehicles. This paper proposes an intelligent driving decision-making and trajectory planning method that comprehensively considers the influence factors of vehicle–road interaction. Firstly, real-time estimation of road adhesion coefficients was achieved based on the recursive least squares method, and a dynamic adhesion perception mechanism was constructed to guide the decision-making module to restrict lateral maneuvering behavior under low-adhesion conditions. A multi-objective lane evaluation function was designed for adaptive lane decision-making. Secondly, a longitudinal and lateral coupled trajectory planning framework was constructed based on the traditional lattice method to achieve smooth switching between lateral trajectory planning and longitudinal speed planning. The planned path is tracked based on a model predictive control algorithm and dual PID algorithm. Finally, the proposed method was verified on a co-simulation platform. The results show that this method has good safety, adaptability, and control stability in complex environments and dynamic adhesion conditions.
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(This article belongs to the Special Issue Actuator Fault Diagnosis, State Detection and Fault Tolerant Control for Ground and Rail Vehicles)
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Open AccessArticle
A Novel Laminar Jamming Mechanism for Variable-Stiffness Robotic Arms
by
Freddy Caro, Marc G. Carmichael and Jinchen Ji
Actuators 2025, 14(9), 430; https://doi.org/10.3390/act14090430 - 1 Sep 2025
Abstract
A central problem in human–robot interaction is the risk of severe injury in humans in the event of a collision with a rigid robot arm. The introduction of variable stiffness into a robot arm mitigates the effects of impact and generates a safe
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A central problem in human–robot interaction is the risk of severe injury in humans in the event of a collision with a rigid robot arm. The introduction of variable stiffness into a robot arm mitigates the effects of impact and generates a safe interaction in its compliant state. An approach to vary the stiffness of members in a robotic arm is Laminar Jamming. In this article, a new lock/unlock mechanism for Laminar Jamming is proposed. The solution consists of a pneumatic actuator that drives a trapezoidal pin to interfere mechanically with the layers, and, in turn, changing the stiffness of the Laminar Jamming Structure. Additionally, frames are placed along the structure to avoid local buckling of the layers. Experiments and finite element simulations were carried out to study the mechanical performance of this new mechanism. Experiments show that the proposed mechanism reached a maximum stiffness ratio of 3.65, which is 15% higher than the stiffness ratio of an equivalent flat clamp mechanism. Experiments also demonstrate that the proposed mechanism does not show the stick-slip phenomenon that exists in the flat clamp mechanism. Computational case studies were carried out to investigate the effects of the angle of the trapezoidal pin, the number of frames, the direction of the transverse force and the behavior at high deflections. Simulations show that the 30° trapezoidal pin has the highest stiffness for pressures larger than 500 kPa, three frames placed along the Laminar Jamming generate the maximum stiffness ratio, the stiffness slightly varies when the transverse force changes direction, and the stiffness decreases with increasing deflection.
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(This article belongs to the Special Issue Mechanical, Optical, and Acoustic Metamaterials and Anisotropic Design for Dynamic Control in Actuators and Sensors)
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