Search for Articles:
Title / Keyword
Author / Affiliation / Email
Journal
Article Type
 
 
Advanced Search
 
Section
Special Issue
Volume
Issue
Number
Page
 
3.9
2.2
Journals
Actuators
Special Issues
Modeling and Nonlinear Control for Complex MIMO Mechatronic Systems
share announcement

Modeling and Nonlinear Control for Complex MIMO Mechatronic Systems

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

Deadline for manuscript submissions: 30 August 2025 | Viewed by 3234

Special Issue Editors

Dr. Gang Li

E-Mail Website
Guest Editor
College of Electrical and Power Engineering, Taiyuan University of Technology, Taiyuan 030024, China
Interests: nonlinear control; intelligent robotics; control applications
Prof. Dr. Huimin Ouyang

E-Mail Website
Guest Editor
College of Electrical Engineering and Control Science, Nanjing Tech University, Nanjing 211816, China
Interests: underactuated system control; nonlinear control
Special Issues, Collections and Topics in MDPI journals
Dr. Tong Yang

E-Mail Website
Guest Editor
Institute of Robotics and Automatic Information Systems, College of Artificial Intelligence, Nankai University, Tianjin 300350, China
Interests: motion control; robot control; motion/trajectory planning; dynamics analysis and control of underactuated systems
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

The field of complex MIMO (Multi-Input Multi-Output) mechatronic systems has garnered significant attention from researchers across various disciplines in recent years. Given the intricate interplay between mechanical, electrical, and control systems within these systems, there is a pressing need to develop advanced modeling techniques and nonlinear control strategies. Accurate modeling of these systems is crucial for achieving precise control, while nonlinear control methods are essential for managing their inherent complexities and uncertainties.

This Special Issue aims to focus on publishing cutting-edge research that addresses the challenges associated with modeling and nonlinear control for complex MIMO mechatronic systems. We invite submissions that present novel approaches to the modeling, simulation, and control of such systems. Whether you are from academia or industry, we welcome original and innovative research studies that contribute to advancing our understanding and practical application of these systems.

Potential topics for this Special Issue include, but are not limited to, the following:

  • Advanced modeling techniques for MIMO mechatronic systems;
  • Dynamic analysis and system identification methods for nonlinear systems;
  • Trajectory planning and optimization for MIMO mechatronic systems;
  • Nonlinear control strategies and algorithms for complex systems;
  • Observer design and observer-based control for MIMO systems;
  • Robust and adaptive control methods for handling uncertainties and disturbances;
  • Fault diagnosis and fault-tolerant control in MIMO mechatronic systems;
  • Experimental validation and real-world applications of modeling and control strategies.

We believe that through collaborative efforts and knowledge exchange, we can drive forward the frontiers of modeling and nonlinear control for complex MIMO mechatronic systems. Together, let us create a future where these systems operate more efficiently, reliably, and safely. We look forward to receiving your contributions.

Dr. Gang Li
Prof. Dr. Huimin Ouyang
Dr. Tong Yang
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 2400 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

  • intelligent designing and modeling of MIMO systems
  • trajectory planning
  • adaptive control
  • vibration control
  • observer-based control
  • robotics
  • robustness
  • fault diagnostics

Benefits of Publishing in a Special Issue

  • Ease of navigation: Grouping papers by topic helps scholars navigate broad scope journals more efficiently.
  • Greater discoverability: Special Issues support the reach and impact of scientific research. Articles in Special Issues are more discoverable and cited more frequently.
  • Expansion of research network: Special Issues facilitate connections among authors, fostering scientific collaborations.
  • External promotion: Articles in Special Issues are often promoted through the journal's social media, increasing their visibility.
  • Reprint: MDPI Books provides the opportunity to republish successful Special Issues in book format, both online and in print.

Further information on MDPI's Special Issue policies can be found here.

Published Papers (7 papers)

Download All Papers
Order results
Result details
Show export options expand_more Show export options expand_less
Select all
Export citation of selected articles as:

Research

15 pages, 2184 KiB  
Article
Modeling and Adaptive Control of Double-Pendulum Offshore Cranes with Distributed-Mass Payloads and External Disturbances
by Shudong Guo, Nan Li, Qingxiang Wu, Yuxuan Jiao, Yaxuan Wu, Weijie Hou, Yuehua Li, Tong Yang and Ning Sun
Actuators 2025, 14(5), 204; https://doi.org/10.3390/act14050204 - 23 Apr 2025
Viewed by 236
Abstract
Offshore cranes are widely used in important fields such as wind power construction and ship replenishment. However, large payloads such as wind turbine blades are hoisted by multiple steel wire ropes, which makes it difficult to directly control their movements; that is, the [...] Read more.
Offshore cranes are widely used in important fields such as wind power construction and ship replenishment. However, large payloads such as wind turbine blades are hoisted by multiple steel wire ropes, which makes it difficult to directly control their movements; that is, the number of input degrees of freedom is less than that of the output degrees of freedom. In addition, compared with land cranes, offshore cranes are inevitably affected by waves, wind, etc. The transition from a fixed base to a dynamic base brings severe challenges to their oscillation suppression and precise positioning. At the same time, to improve operational efficiency, the hoisting operation of offshore cranes usually adopts velocity input control patterns that fit the habits of manual operation, and most of them are in the form of dual-axis linkage for pitch and hoisting. Therefore, this paper proposes a fast terminal sliding mode control method for double-pendulum offshore cranes with distributed-mass payloads (DMPs). First, a nonlinear dynamic model of offshore cranes considering DMPs is established, and a dynamic model based on acceleration input control patterns is acquired. Based on this, considering the variation in hoisting rope lengths, a novel adaptive control method is proposed. Finally, simulation results verify the effectiveness of the proposed method, and the robustness of the proposed method to DMP mass parameter uncertainty and disturbances is demonstrated. Full article
(This article belongs to the Special Issue Modeling and Nonlinear Control for Complex MIMO Mechatronic Systems)
►▼ Show Figures

Figure 1

18 pages, 3705 KiB  
Article
A Simple Control Strategy for Planar 2R Underactuated Robot via DEA Optimization
by Zixin Huang, Xiangyu Gong, Xiao Wan and Hongjian Zhou
Actuators 2025, 14(3), 156; https://doi.org/10.3390/act14030156 - 20 Mar 2025
Viewed by 236
Abstract
In various fields, planar 2R underactuated robots have garnered significant attention due to their numerous applications. To guarantee the stable control of these robots, a simple control strategy is presented in this paper, and we utilize the intelligent optimization algorithm to enhance the [...] Read more.
In various fields, planar 2R underactuated robots have garnered significant attention due to their numerous applications. To guarantee the stable control of these robots, a simple control strategy is presented in this paper, and we utilize the intelligent optimization algorithm to enhance the controller parameters. Initially, a comprehensive dynamic model is developed for the robot with its control properties described. Subsequently, we design a PD controller to control the movement of the planar 2R underactuated robot. The differential evolution algorithm (DEA) is used to optimize the parameters of the PD controller to obtain the best control effect and make each link reach the target state. The findings from the simulation demonstrate the efficacy of the approach, and the designed strategy shows a higher stability and convergence rate, highlighting its important contribution to the field of underactuated robots. Full article
(This article belongs to the Special Issue Modeling and Nonlinear Control for Complex MIMO Mechatronic Systems)
►▼ Show Figures

Figure 1

19 pages, 3544 KiB  
Article
An Adaptive Path Tracking Controller with Dynamic Look-Ahead Distance Optimization for Crawler Orchard Sprayers
by Xu Wang, Bo Zhang, Xintong Du, Xinkang Hu, Chundu Wu and Jianrong Cai
Actuators 2025, 14(3), 154; https://doi.org/10.3390/act14030154 - 19 Mar 2025
Viewed by 417
Abstract
Based on the characteristics of small agricultural machinery in terms of flexibility and high efficiency when operating in small plots of hilly and mountainous areas, as well as the demand for improving the automation and intelligence levels of agricultural machinery, this paper conducted [...] Read more.
Based on the characteristics of small agricultural machinery in terms of flexibility and high efficiency when operating in small plots of hilly and mountainous areas, as well as the demand for improving the automation and intelligence levels of agricultural machinery, this paper conducted research on the path tracking control of the automatic navigation operation of a crawler sprayer. Based on the principles of the kinematic model and the position prediction model of the agricultural machinery chassis, a pure pursuit controller based on adaptive look-ahead distance was designed for the tracked motion chassis. Using a lightweight crawler sprayer as the research platform, integrating onboard industrial control computers, sensors, communication modules, and other hardware, an automatic navigation operation system was constructed, achieving precise control of the crawler sprayer during the path tracking process. Simulation test results show that the path tracking control method based on adaptive look-ahead distance has the characteristics of smooth control and small steady-state error. Field tests indicate that the crawler sprayer exhibits small deviations during path tracking, with an average absolute error of 2.15 cm and a maximum deviation of 4.08 cm when operating at a speed of 0.7 m/s. In the line-following test, with initial position deviations of 0.5 m, 1.0 m, and 1.5 m, the line-following times were 7.45 s, 11.91 s, and 13.66 s, respectively, and the line-following distances were 5.21 m, 8.34 m, and 9.56 m, respectively. The maximum overshoot values were 6.4%, 10.5%, and 12.6%, respectively. The autonomous navigation experiments showed a maximum deviation of 5.78 cm and a mean absolute error of 2.69 cm. The proportion of path deviations within ±5 cm and ±10 cm was 97.32% and 100%, respectively, confirming the feasibility of the proposed path tracking control method. This significantly enhanced the path tracking performance of the crawler sprayer while meeting the requirements for autonomous plant protection spraying operations. Full article
(This article belongs to the Special Issue Modeling and Nonlinear Control for Complex MIMO Mechatronic Systems)
►▼ Show Figures

Figure 1

18 pages, 6774 KiB  
Article
Command-Filtered Yaw Stability Control of Vehicles with State Constraints
by Lizhe Wu, Zhenhua Liu and Dingxuan Zhao
Actuators 2025, 14(3), 148; https://doi.org/10.3390/act14030148 - 17 Mar 2025
Cited by 1 | Viewed by 307
Abstract
Yaw stability control is crucial for ensuring the driving safety of intelligent vehicles. This paper proposes a state-constrained command-filtered control (CFC) approach for vehicle yaw stability. The proposed method employs a barrier Lyapunov function (BLF) to effectively constrain the vehicle’s sideslip angle and [...] Read more.
Yaw stability control is crucial for ensuring the driving safety of intelligent vehicles. This paper proposes a state-constrained command-filtered control (CFC) approach for vehicle yaw stability. The proposed method employs a barrier Lyapunov function (BLF) to effectively constrain the vehicle’s sideslip angle and yaw rate, thereby enhancing system stability and safety. Meanwhile, a command-filtered control strategy is introduced to reduce computational complexity, and an error compensation mechanism is incorporated to mitigate the adverse effects of filter-induced errors on system performance. To validate the effectiveness and robustness of the proposed method, simulations are conducted under different road adhesion conditions and driving speeds. The results demonstrate that the proposed control approach effectively suppresses both understeer and oversteer phenomena, significantly improving vehicle handling stability. This study provides theoretical support and practical insights for the engineering application of yaw stability control in intelligent vehicles. Full article
(This article belongs to the Special Issue Modeling and Nonlinear Control for Complex MIMO Mechatronic Systems)
►▼ Show Figures

Figure 1

14 pages, 2216 KiB  
Article
L2-Regularization-Based Kinematic Parameter Identification for Industrial Robots in Limited Measurement Space
by Fei Liu, Guanbin Gao, Jing Na and Faxiang Zhang
Actuators 2025, 14(3), 144; https://doi.org/10.3390/act14030144 - 14 Mar 2025
Viewed by 398
Abstract
The accurate identification of kinematic parameters is crucial for improving the positioning accuracy of industrial robots, particularly in advanced manufacturing and automation. However, limited measurement space in practical applications often leads to concentrated data, causing overfitting and unreliable parameter estimation when using traditional [...] Read more.
The accurate identification of kinematic parameters is crucial for improving the positioning accuracy of industrial robots, particularly in advanced manufacturing and automation. However, limited measurement space in practical applications often leads to concentrated data, causing overfitting and unreliable parameter estimation when using traditional identification methods. To address these challenges, this study proposes an L2-regularization-based method to improve parameter identification accuracy by penalizing deviations from the nominal kinematic parameters. The regularization factor is determined using a k-fold cross-validation strategy, ensuring a balance between generalization and accuracy. The proposed method was validated on a six-axis industrial robot, with calibration performed in a constrained measurement space and verification conducted in an expanded workspace. Compared to traditional least-squares methods, which suffer from significant parameter deviations and overfitting, the proposed L2-regularized method effectively improves parameter estimation accuracy. Specifically, this method reduces the mean error from 3.461 mm to 0.399 mm, achieving an approximate 88% improvement compared to the error before calibration. These findings demonstrate the effectiveness of the proposed method in improving parameter identification and positioning accuracy under constrained measurement space. Full article
(This article belongs to the Special Issue Modeling and Nonlinear Control for Complex MIMO Mechatronic Systems)
►▼ Show Figures

Figure 1

23 pages, 8148 KiB  
Article
Energy-Coupling-Based Control for Unmanned Quadrotor Transportation Systems: Exploiting Beneficial State-Coupling Effects
by Lincong Han, Zengcheng Zhou, Ming Li, Haokun Geng, Gang Li and Menghua Zhang
Actuators 2025, 14(2), 91; https://doi.org/10.3390/act14020091 - 13 Feb 2025
Viewed by 531
Abstract
Cable suspension transport is a crucial method for quadrotors to transport goods and materials. During transportation, the quadrotor transport system (QTS) faces external disturbances and system uncertainties. Particularly, the underactuated nature of the system poses significant challenges to its stable operation. To solve [...] Read more.
Cable suspension transport is a crucial method for quadrotors to transport goods and materials. During transportation, the quadrotor transport system (QTS) faces external disturbances and system uncertainties. Particularly, the underactuated nature of the system poses significant challenges to its stable operation. To solve these problems, this paper proposes a hierarchical control scheme that enhances coupling and leverages advantageous state-coupling to achieve precise positioning and eliminate payload swings for QTS. By leveraging the cascading characteristics of QTS, the design process is greatly simplified through the separate design of the torque input for the inner loop and the force input for the outer loop. Simulation results demonstrate the effective control performance of this method. Full article
(This article belongs to the Special Issue Modeling and Nonlinear Control for Complex MIMO Mechatronic Systems)
►▼ Show Figures

Figure 1

16 pages, 4542 KiB  
Article
Energy-Based Adaptive Control for Variable-Rope-Length Double-Pendulum Ship-Borne Cranes: A Disturbance Rejection Stabilization Controller Without Overshoot
by Ken Zhong, Yuzhe Qian, He Chen and Shujie Wu
Actuators 2025, 14(2), 52; https://doi.org/10.3390/act14020052 - 24 Jan 2025
Viewed by 621
Abstract
The operation process of double-pendulum ship-borne cranes with variable rope lengths is frequently complex, with numerous unpredictable circumstances, such as the swing of the load and external environmental interferences, which undoubtedly make the analysis of the swing characteristics of the system and the [...] Read more.
The operation process of double-pendulum ship-borne cranes with variable rope lengths is frequently complex, with numerous unpredictable circumstances, such as the swing of the load and external environmental interferences, which undoubtedly make the analysis of the swing characteristics of the system and the controller design more difficult. On this basis, an active disturbance rejection controller based on an energy coupling method is proposed to inhibit the double-pendulum swing angle. The controller can suppress the swing of the hook and load within 0.5 degrees under the conditions of continuous sea wave disturbances and external disturbances. Firstly, the energy function of the system is constructed by analyzing the dynamic model of the system. Then, an adaptive control method is designed by analyzing the energy function of the system. In addition, an overshoot limit term and an anti-swing term are added to limit the overshoot and swing of underactuated parts of the system. Then, the stability of the closed-loop system is strictly proven by using Lyapunov analysis. Finally, the simulation and experimental results indicate that the proposed controller ensures the accurate positioning of the jib and rope length without overshoot. Additionally, it effectively reduces the double-pendulum swing angle when there is an external interference such as waves, demonstrating strong robustness. Full article
(This article belongs to the Special Issue Modeling and Nonlinear Control for Complex MIMO Mechatronic Systems)
►▼ Show Figures

Figure 1

Show export options expand_more Show export options expand_less
Select all
Export citation of selected articles as:
 
Displaying articles 1-7
Back to TopTop