Special Issue "Modeling, Optimization and Control of Robotic Systems"

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuators for Robotics".

Deadline for manuscript submissions: 31 May 2023 | Viewed by 3096

Special Issue Editors

Prof. Dr. Ahmad Taher Azar
E-Mail Website1 Website2 Website3 Website4
Guest Editor
1. College of Computer and Information Sciences, Prince Sultan University, Riyadh 11586, Saudi Arabia
2. Automated Systems & Soft Computing Lab (ASSCL), Prince Sultan University, Riyadh 12435, Saudi Arabia
3. Faculty of Computers and Artificial Intelligence, Benha University, Benha 13518, Egypt
Interests: control theory and applications; robotics; process control; artificial intelligence; machine learning, computational intelligence, dynamic system modeling
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Amjad J. Humaidi
E-Mail Website
Guest Editor
Department of Control and Systems Engineering, University of Technology, Baghdad 10001, Iraq
Interests: control theory; nonlinear control; robotic
Special Issues, Collections and Topics in MDPI journals
Dr. Ammar K. Al Mhdawi
E-Mail Website
Guest Editor
Department of Computer Science, Edge Hill University, Ormskirk, UK
Interests: robotics; advanced control; dynamic system modeling; system identification

Special Issue Information

Dear Colleagues,

Robotics has grown in importance in industrial applications, domestic services, and healthcare as one of the most promising future technologies. Robotics is concerned with interdisciplinary research and development in fields such as design optimization, kinematics, dynamics, motion planning, control, sensors, and machine intelligence. The control system is at the heart of robotic system development and implementation. The breadth of robotics and control research has resulted in numerous notable achievements that can be shared with the research community.

The proposed Special Issue's main goal is to present a cutting-edge collection of articles presenting novel developments in robot dynamic modeling, optimization and control, as well as experimental studies related to their use in real-world applications. This Special Issue covers a variety of contributions from different fields.

Prof. Dr. Ahmad Taher Azar
Prof. Dr. Amjad J. Humaidi
Dr. Ammar K. Al Mhdawi
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 1800 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • bio-inspired control systems
  • fuzzy logic control
  • humanoid robots
  • microrobots and micromanipulation
  • modeling and analysis
  • multiple mobile robot systems
  • networked control
  • nonlinear control design
  • observer design
  • robot navigation, localization and mapping
  • robust control
  • sensor-fusion-based control
  • sliding mode control systems
  • state estimation
  • state/output feedback
  • trajectory planning and optimization
  • underactuated robots

Published Papers (5 papers)

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Research

Article
Electromechanical Coupling Dynamic and Vibration Control of Robotic Grinding System for Thin-Walled Workpiece
Actuators 2023, 12(1), 37; https://doi.org/10.3390/act12010037 - 10 Jan 2023
Viewed by 377
Abstract
The robotic grinding system for a thin-walled workpiece is a multi-dimensional coupling system composed of a robot, a grinding spindle and the thin-walled workpiece. In the grinding process, a dynamic coupling effect is generated, while the thin-walled workpiece stimulates elastic vibration; the grinding [...] Read more.
The robotic grinding system for a thin-walled workpiece is a multi-dimensional coupling system composed of a robot, a grinding spindle and the thin-walled workpiece. In the grinding process, a dynamic coupling effect is generated, while the thin-walled workpiece stimulates elastic vibration; the grinding spindle, as an electromechanical coupling actuator, is sensitive to the elastic vibration in the form of load fluctuations. It is necessary to investigate the electromechanical coupling dynamic characteristics under the vibration coupling of the thin-walled workpiece as well as the vibration control of the robotic grinding system. Firstly, considering the dynamic coupling effect between the grinding spindle and thin-walled workpiece, a dynamic model of the grinding spindle and thin-walled workpiece coupling system is established. Secondly, based on this established coupling dynamic model, the vibration characteristics of the thin-walled workpiece and the electromechanical coupling dynamic characteristics of the grinding spindle are investigated. Finally, a speed adaptive control system for the grinding spindle is designed based on a fuzzy PI controller, which can achieve a stable speed for the grinding spindle under vibration coupling and has a certain suppression effect on the elastic vibration of the thin-walled workpiece at the same time. Full article
(This article belongs to the Special Issue Modeling, Optimization and Control of Robotic Systems)
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Article
Disturbance-Observer-Based Dual-Position Feedback Controller for Precision Control of an Industrial Robot Arm
Actuators 2022, 11(12), 375; https://doi.org/10.3390/act11120375 - 14 Dec 2022
Viewed by 594
Abstract
Recently, the fourth industrial revolution has accelerated the application of multiple degrees-of-freedom (DOF) robot arms in various applications. However, it is difficult to utilize robot arms for precision motion control because of their low stiffness. External loads applied to robot arms induce deflections [...] Read more.
Recently, the fourth industrial revolution has accelerated the application of multiple degrees-of-freedom (DOF) robot arms in various applications. However, it is difficult to utilize robot arms for precision motion control because of their low stiffness. External loads applied to robot arms induce deflections in the joints and links, which deteriorates the positioning accuracy. To solve this problem, control methods using a disturbance observer (DOB) with an external sensory system have been developed. However, external sensors are expensive and have low reliability because of noise and reliance on the surrounding environment. A disturbance-observer-based dual-position feedback (DOB-DPF) controller is proposed herein to improve the positioning accuracy by compensating for the deflections in real time using only an internal sensor. The DOB was designed to derive the unpredictable disturbance torque applied to each joint using the command voltage generated by the position controller. The angular deflection of each joint was calculated based on the disturbance torque and joint stiffness, which were identified experimentally. The DPF controller was designed to control the joint motor while simultaneously compensating for angular deflection. A five-DOF robot arm testbed with a position controller was constructed to verify the proposed controller. The contouring performance of the DOB-DPF controller was compared with that of a conventional position controller with an external load applied to the end effector. The increases in the root mean square values of the contour errors were 1.71 and 0.12 mm with a conventional position controller and the proposed DOB-DPF controller, respectively, after a 2.2 kg weight was applied to the end effector. The results show that the contour error caused by the external load is effectively compensated for by the DOB-DPF controller without an external sensor. Full article
(This article belongs to the Special Issue Modeling, Optimization and Control of Robotic Systems)
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Article
Adaptive Fault Tolerant Non-Singular Sliding Mode Control for Robotic Manipulators Based on Fixed-Time Control Law
Actuators 2022, 11(12), 353; https://doi.org/10.3390/act11120353 - 29 Nov 2022
Viewed by 485
Abstract
This paper presents a fault tolerant scheme employing adaptive non-singular fixed-time terminal sliding mode control (AFxNTSM) for the application of robotic manipulators under uncertainties, external disturbances, and actuator faults. To begin, non-singular fixed-time terminal sliding mode control (FxNTSM) is put forth. This control [...] Read more.
This paper presents a fault tolerant scheme employing adaptive non-singular fixed-time terminal sliding mode control (AFxNTSM) for the application of robotic manipulators under uncertainties, external disturbances, and actuator faults. To begin, non-singular fixed-time terminal sliding mode control (FxNTSM) is put forth. This control method uses non-singular terminal sliding mode control to quickly reach fixed-time convergence, accomplish satisfactory performance in tracking, and produce non-singular and non-chatter control inputs. Then, without knowing the upper bounds beforehand, AFxNTSM is used as a reliable fault tolerant control (FTC) to estimate actuator faults and unknown dynamics. The fixed-time stability of the closed-loop system is established by the theory of Lyapunov analysis. The computer simulation results of the position tracking, control inputs, and adaptive parameters are presented to verify and illustrate the performance of the proposed strategy. Full article
(This article belongs to the Special Issue Modeling, Optimization and Control of Robotic Systems)
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Article
Robust Stabilization of Underactuated Two-Wheeled Balancing Vehicles on Uncertain Terrains with Nonlinear-Model-Based Disturbance Compensation
Actuators 2022, 11(11), 339; https://doi.org/10.3390/act11110339 - 21 Nov 2022
Viewed by 618
Abstract
Two-wheeled inverted pendulum (TWIP) vehicles are prone to lose their mobility and postural stability owing to their inherently unstable and underactuated dynamic characteristics, specifically when they encounter abruptly changed slopes or ground friction. Overcoming such environmental disturbances is essential to realize an agile [...] Read more.
Two-wheeled inverted pendulum (TWIP) vehicles are prone to lose their mobility and postural stability owing to their inherently unstable and underactuated dynamic characteristics, specifically when they encounter abruptly changed slopes or ground friction. Overcoming such environmental disturbances is essential to realize an agile TWIP-based mobile platform. In this paper, we suggest a disturbance compensation method that is compatible with unmanned TWIP systems in terms of the nonlinear-model-based disturbance observer, where the underactuated dynamic model is transformed to a fully actuated form by regarding the gravitational moment of the inverted pendulum as a supplementary pseudo-actuator to counteract the pitch-directional disturbances. Consequently, it enables us to intuitively determine the disturbance compensation input of the two wheels and the pitch reference input accommodating to uncertain terrains in real time. Through simulation and experimental results, the effectiveness of the proposed method is validated. Full article
(This article belongs to the Special Issue Modeling, Optimization and Control of Robotic Systems)
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Article
Time-Optimal Trajectory Planning of 6-DOF Manipulator Based on Fuzzy Control
Actuators 2022, 11(11), 332; https://doi.org/10.3390/act11110332 - 16 Nov 2022
Cited by 1 | Viewed by 532
Abstract
Currently, the teaching programming or offline programming used by an industrial manipulator can manually set the running speed of the manipulator. In this paper, to consider the running speed and stability of the manipulator, the time-optimal trajectory planning (TOTP) of the manipulator is [...] Read more.
Currently, the teaching programming or offline programming used by an industrial manipulator can manually set the running speed of the manipulator. In this paper, to consider the running speed and stability of the manipulator, the time-optimal trajectory planning (TOTP) of the manipulator is transformed into a nonlinear optimal value search problem under multiple constraints, and a time-search algorithm based on fuzzy control is proposed, so that the end of the manipulator can run along the given path in Cartesian space for the shortest time, and the angular velocity and angular acceleration of each joint is within a limited range. In addition, a simulation model of a 6-DOF manipulator is established in MATLAB, taking a straight-line trajectory of the end of the manipulator in Cartesian space as an example, and the effectiveness and efficiency of the algorithm proposed in this paper are proved by comparing the execution time with the bisection algorithm and the traditional gradient descent method. Full article
(This article belongs to the Special Issue Modeling, Optimization and Control of Robotic Systems)
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