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High-Performance Control of Electromechanical Servo System Based on Motor/Hydraulic Actuator
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High-Performance Control of Electromechanical Servo System Based on Motor/Hydraulic Actuator

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

Deadline for manuscript submissions: 31 December 2025 | Viewed by 2423

Special Issue Editors

Dr. Guichao Yang

E-Mail Website
Guest Editor
School of Mechanical and Power Engineering, Nanjing Tech University, Nanjing 211816, China
Interests: nonlinear control; electromechanical servo control; intelligent control; adaptive control; robust control; electro-hydraulic servo control; motor servo control; neural networks; robot arm; observer design; fault diagnosis
Dr. Zhenle Dong

E-Mail Website
Guest Editor
School of Vehicle and Traffic Engineering, Henan University of Science and Technology, Luoyang 471003, China
Interests: electromechanical servo control; adaptive control; robust control; electro-hydraulic servo control; motor servo control
Dr. Zhangbao Xu

E-Mail Website
Guest Editor
School of Computer and Information Engineering, Fuyang Normal University, Fuyang 236037, China
Interests: electromechanical servo control; adaptive control; robust control; electro-hydraulic servo control; motor servo control

Special Issue Information

Dear Colleagues,

Motor/hydraulic actuators play an important role in high-performance electromechanical servo control. However, the existing modeling uncertainties will reduce the system control performance or even cause the whole closed-loop system to become unstable. It should be noted that these uncertainties can be subdivided into endogenous uncertainties associated with the system states and exogenous uncertainties with regard to external disturbances. More importantly, these uncertainties are not only smooth but also nonsmooth. Furthermore, measurement noises, input saturation, and other factors can also affect the resulting control performance of the system. Overall, the modeling uncertainties, which not only come from diverse sources but also have complex forms, always inevitably exist in all electromechanical servo plants, enabling the closed-loop controller design become difficult and hindering the development of these systems towards high control performance. Therefore, how to reject these uncertainties to improve the system control performance is of great significance. Additionally, other control methods such as prescribed performance control, preset time control, state constraint control, input constraint control, event-triggered control, optimal control, and so on play a significant role in satisfying the system control requirements. This Special Issue warmly welcomes all research work related to motor/hydraulic actuator-based electromechanical servo control.

Dr. Guichao Yang
Dr. Zhenle Dong
Dr. Zhangbao Xu
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 250 words) can be sent to the Editorial Office for assessment.

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

  • motor control
  • hydraulic control
  • electromechanical control
  • servo control
  • motion control
  • controller design
  • control theory and application
  • control engineering
  • modeling and simulations

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Published Papers (6 papers)

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Research

17 pages, 834 KB  
Article
Predefined-Time Tracking Control of Servo Hydraulic Cylinder Based on Reinforcement Learning
by Tao Han, Xiaohua Nie, Ninan Que, Jie Lu, Jianyong Yao and Xiaochuan Yu
Actuators 2026, 15(1), 9; https://doi.org/10.3390/act15010009 (registering DOI) - 24 Dec 2025
Abstract
Electro-hydraulic servo systems are characterized by significant nonlinearities. Reinforcement learning (RL), known for its model-free nature and adaptive learning capabilities, presents a promising approach for handling uncertainties inherent in such systems. This paper proposes a predefined-time tracking control scheme based on RL, which [...] Read more.
Electro-hydraulic servo systems are characterized by significant nonlinearities. Reinforcement learning (RL), known for its model-free nature and adaptive learning capabilities, presents a promising approach for handling uncertainties inherent in such systems. This paper proposes a predefined-time tracking control scheme based on RL, which achieves fast and accurate tracking performance. The proposed design employs an actor–critic neural network strategy to actively compensate for system uncertainties. Within a conventional backstepping framework, a command-filtering technique is integrated to construct a predefined-time control structure. This not only circumvents the issue of differential explosion but also guarantees system convergence within a predefined time, which can be specified independently by the designer. Simulation results and comparisons validate the enhanced control performance of the proposed controller. Full article
(This article belongs to the Special Issue High-Performance Control of Electromechanical Servo System Based on Motor/Hydraulic Actuator)
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22 pages, 3489 KB  
Article
Adaptive Output Feedback Pressure Control for Electro-Hydraulic Servo Systems
by Tao Han, Jie Lu, Jing Ye, Weitang Wang, Jianyong Yao and Xiaochuan Yu
Actuators 2026, 15(1), 10; https://doi.org/10.3390/act15010010 - 24 Dec 2025
Abstract
High-precision position control and pressure control are core performance requirements for modern electro-hydraulic actuators. While the design of controllers for high-performance position servo systems is relatively straightforward, the development of pressure control strategies for electro-hydraulic actuators poses substantially greater challenges. This is primarily [...] Read more.
High-precision position control and pressure control are core performance requirements for modern electro-hydraulic actuators. While the design of controllers for high-performance position servo systems is relatively straightforward, the development of pressure control strategies for electro-hydraulic actuators poses substantially greater challenges. This is primarily due to the fact that unknown time-varying parameters, load dynamics, and sensor-induced measurement noise within the system drastically deteriorate the performance of the closed-loop system. To address these challenges, this study proposes an adaptive output feedback pressure controller specifically tailored for electro-hydraulic servo systems. This controller not only exhibits insensitivity to dynamic load disturbances but also effectively mitigates the adverse effects of time-varying parameters and sensor measurement noise. Theoretical analysis demonstrates that the proposed controller can guarantee the asymptotic stability of the system’s tracking error. Furthermore, detailed simulation and experimental results are presented to validate the superiority of the designed controller over conventional control strategies. Full article
(This article belongs to the Special Issue High-Performance Control of Electromechanical Servo System Based on Motor/Hydraulic Actuator)
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16 pages, 2902 KB  
Article
Adaptive Backstepping Control for Battery Pole Strip Mill Systems with Friction and Dead-Zone Input Nonlinearities
by Gengting Qiu, Yujie Hao, Gexin Chen, Guishan Yan and Yao Chen
Actuators 2025, 14(12), 618; https://doi.org/10.3390/act14120618 - 17 Dec 2025
Viewed by 101
Abstract
The dead-zone input and hydraulic cylinder friction of the pump-controlled automatic gauge control (AGC) system introduce significant challenges to the high-precision rolling of lithium battery pole pieces. To address these nonlinearities, this paper establishes the friction and dead-zone model of the pump-controlled AGC [...] Read more.
The dead-zone input and hydraulic cylinder friction of the pump-controlled automatic gauge control (AGC) system introduce significant challenges to the high-precision rolling of lithium battery pole pieces. To address these nonlinearities, this paper establishes the friction and dead-zone model of the pump-controlled AGC system, and a slide-mode observer is designed to estimate the friction state z in the LuGre model. Furthermore, an adaptive compensation method is adopted to identify the unknown parameters of the input dead-zone and friction models. Meanwhile, combined with the framework of backstepping control design, both matched and mismatched disturbances are effectively compensated. Stability analysis guarantees the convergence of the estimation errors and closed-loop signal boundedness. Finally, experimental results validate the effectiveness and robustness of the proposed control strategy. Full article
(This article belongs to the Special Issue High-Performance Control of Electromechanical Servo System Based on Motor/Hydraulic Actuator)
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24 pages, 3847 KB  
Article
Dynamic Mechanistic–Data-Driven Hybrid Modeling of the Main Distributing Valve in a Hydroturbine Governor
by Zhuofan Lyu, Jiang Guo, Shang Wu, Zhuo Wei, Jiaxuan Lyu and Kefei Zhang
Actuators 2025, 14(12), 572; https://doi.org/10.3390/act14120572 - 25 Nov 2025
Viewed by 277
Abstract
The main distributing valve (MDV) plays a core role in hydraulic amplification and precise control within the hydro-turbine governing system, and its spool position dynamics directly affect the regulation quality and stability of the hydro-turbine generator unit. However, developing a high-fidelity dynamic model [...] Read more.
The main distributing valve (MDV) plays a core role in hydraulic amplification and precise control within the hydro-turbine governing system, and its spool position dynamics directly affect the regulation quality and stability of the hydro-turbine generator unit. However, developing a high-fidelity dynamic model of the MDV remains challenging, as existing methods typically rely on linearization assumptions and fail to fully account for system uncertainties, resulting in limited accuracy and poor cross-condition stability. To address this issue, this paper proposes a mechanistic–data-driven hybrid modeling method. Firstly, a modular modeling strategy is adopted to accurately construct a nonlinear mechanism-based model (MBM) that conforms to the actual industrial system. Secondly, to address the unknown dynamics not captured by the MBM, a Bayesian optimization-enhanced Light Gradient Boosting Machine (BO-LightGBM) model is developed. Then, a cascade–additive architecture is employed to achieve effective integration of the two. Finally, verification experiments are conducted under various dynamic processes based on the actual operating data of the governor. The results show that the proposed hybrid model significantly outperforms the other five comparison models in terms of accuracy and stability while retaining physical interpretability. This provides a more practically valuable solution for the dynamic modeling and simulation of hydroturbine actuators. Full article
(This article belongs to the Special Issue High-Performance Control of Electromechanical Servo System Based on Motor/Hydraulic Actuator)
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19 pages, 65499 KB  
Article
Variable Control Period Model Predictive Current Control with Current Hysteresis for Permanent Magnet Synchronous Motor Drives
by Yuhao Guo, Fuxi Jiang, Siqi Wang, Shanmei Cheng and Zuoqi Hu
Actuators 2025, 14(11), 517; https://doi.org/10.3390/act14110517 - 25 Oct 2025
Cited by 1 | Viewed by 633
Abstract
Conventional finite control set model predictive control (FCS-MPC) for permanent magnet synchronous motor (PMSM) drives suffers from a fundamental trade-off: shortening the control period improves current tracking but increases switching frequency and losses. This paper proposes a hysteresis-based variable control period MPC (HBVCP-MPC) [...] Read more.
Conventional finite control set model predictive control (FCS-MPC) for permanent magnet synchronous motor (PMSM) drives suffers from a fundamental trade-off: shortening the control period improves current tracking but increases switching frequency and losses. This paper proposes a hysteresis-based variable control period MPC (HBVCP-MPC) to break this compromise. Unlike methods like direct torque control (DTC) and model predictive direct torque control (MPDTC) that use hysteresis to select voltage vectors (VV), our approach first selects the optimal VV via a cost function that balances current tracking accuracy and switching frequency. Hysteresis on the dq-axis currents is then employed solely to dynamically determine the application time of this pre-selected VV, which defines the variable control period. This grants continuous adjustment over the VV duration, enabling superior current tracking without a proportional rise in switching frequency. Experimental results confirm that the proposed method achieves enhanced steady-state performance at a comparable switching frequency. Full article
(This article belongs to the Special Issue High-Performance Control of Electromechanical Servo System Based on Motor/Hydraulic Actuator)
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19 pages, 4270 KB  
Article
Fast Terminal Sliding Mode Control Based on a Novel Fixed-Time Sliding Surface for a Permanent Magnet Arc Motor
by Qiangren Xu, Gang Wang and Shuhua Fang
Actuators 2025, 14(9), 423; https://doi.org/10.3390/act14090423 - 29 Aug 2025
Viewed by 706
Abstract
A fast terminal sliding mode control based on a fixed-time sliding surface is proposed for a permanent magnet arc motor (PMAM), effectively improving speed response, control accuracy, and disturbance rejection capability. Due to its piecewise structure and advanced logarithmic characteristics, a PMAM is [...] Read more.
A fast terminal sliding mode control based on a fixed-time sliding surface is proposed for a permanent magnet arc motor (PMAM), effectively improving speed response, control accuracy, and disturbance rejection capability. Due to its piecewise structure and advanced logarithmic characteristics, a PMAM is subject to high-frequency disturbances. Additionally, it is also influenced by external disturbances. To address this, a sliding mode reaching law that combines terminal terms, linear terms, and switching terms is designed to reduce chattering and enhance robustness. Furthermore, to improve the convergence speed of the sliding mode and disturbance rejection ability, a novel fixed-time converging sliding surface based on a variable exponent terminal term is introduced. Numerical simulations verify the convergence and disturbance rejection capabilities of the proposed sliding surface. Stability based on the Lyapunov theorem is strictly proven. Experimental results validate the effectiveness and superiority of the proposed algorithm. Full article
(This article belongs to the Special Issue High-Performance Control of Electromechanical Servo System Based on Motor/Hydraulic Actuator)
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