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Actuators
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Recent Developments in Precision Actuation Technologies
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Recent Developments in Precision Actuation Technologies

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

Deadline for manuscript submissions: 31 July 2025 | Viewed by 11918

Special Issue Editors

Prof. Dr. Bin-tang Yang

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Guest Editor
State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
Interests: smart materials, structures and systems; precision and mini/micro actuation technologies; active vibration control and the equipment design
Dr. Yikun Yang

E-Mail
Guest Editor
State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
Interests: smart materials, structures and systems; precision actuators and sensors; active vibration control and adaptive nonlinear control
Dr. Xiaoqing Sun

E-Mail Website
Guest Editor
Department of Mechanical Engineering, Donghua University, Shanghai 201620, China
Interests: smart materials; compliant mechanism; precision actuation technologies; active vibration control and compliant superstructure

Special Issue Information

Dear Colleagues,

Precision actuation technologies are vital in many fields of precision engineering, such as precision machining, active control of micro-vibration, surgical robots, etc. One of the main components of precision actuation technologies is precision actuators. Actuators based on smart materials have attracted the attention of a large number of researchers in recent years. These materials include piezoelectric materials, magnetostrictive materials, shape memory alloys, dielectric materials, etc. Another of the main components of precision actuation technologies is control methods. Smart material actuators often have strong nonlinearity, so it is necessary to study effective control methods to achieve precise actuation. Research into new precision actuators, precision actuation control methods and applications of precision actuation technology is still very active. This Special Issue aims to collect original papers on various types of precision actuation mechanisms, actuator design, control methods and applications, not limited to specific application areas.

Prof. Dr. Bin-tang Yang
Dr. Yikun Yang
Dr. Xiaoqing Sun
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

  • actuator
  • smart material
  • actuator design
  • actuator application
  • actuator control
  • active vibration control

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Published Papers (7 papers)

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Research

16 pages, 2249 KiB  
Article
Fast Parameter Identification of the Fractional-Order Creep Model
by Shabnam Tashakori, Andres San-Millan, Vahid Vaziri and Sumeet S. Aphale
Actuators 2024, 13(12), 534; https://doi.org/10.3390/act13120534 - 23 Dec 2024
Viewed by 373
Abstract
In this study, a parameter identification approach for the fractional-order piezoelectric creep model is proposed. Indeed, creep is a wide-impacting phenomenon leading to time-dependent deformation in spite of constant persistent input. The creep behavior results in performance debasement, especially in applications with low-frequency [...] Read more.
In this study, a parameter identification approach for the fractional-order piezoelectric creep model is proposed. Indeed, creep is a wide-impacting phenomenon leading to time-dependent deformation in spite of constant persistent input. The creep behavior results in performance debasement, especially in applications with low-frequency responses. Fractional-Order (FO) modeling for creep dynamics has been proposed in recent years, which has demonstrated improved modeling precision compared to integer-order models. Still, parameter uncertainty in creep models is a challenge for real-time control. Aiming at a faster identification process, the proposed approach in this paper identifies the model parameters in two layers, i.e., one layer for the fractional-order exponent, corresponding to creep, and the other for the integer-order polynomial coefficients, corresponding to mechanical resonance. The proposed identification strategy is validated by utilizing experimental data from a piezoelectric actuator used in a nanopositioner and a piezoelectric sensor. Full article
(This article belongs to the Special Issue Recent Developments in Precision Actuation Technologies)
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25 pages, 4148 KiB  
Article
A Disturbance Sliding Mode Observer Designed for Enhancing the LQR Current-Control Scheme of a Permanent Magnet Synchronous Motor
by Zhidong Zhang, Gongliu Yang, Jing Fan, Tao Li and Qingzhong Cai
Actuators 2024, 13(8), 283; https://doi.org/10.3390/act13080283 - 26 Jul 2024
Viewed by 2714
Abstract
This paper introduces a current control method for permanent magnet synchronous motors (PMSMs) using a disturbance sliding mode observer (DSMO) in conjunction with a linear quadratic regulator (LQR). This approach enhances control performance, streamlines the tuning of controller parameters, and offers robust optimal [...] Read more.
This paper introduces a current control method for permanent magnet synchronous motors (PMSMs) using a disturbance sliding mode observer (DSMO) in conjunction with a linear quadratic regulator (LQR). This approach enhances control performance, streamlines the tuning of controller parameters, and offers robust optimal control that is resistant to system disturbances. The LQR controller based on state feedback is advantageous for its simplicity in parameter adjustment and achieving an optimal control effect easily under specific performance indicators. It is suitable for the optimal control of strong linear systems that can be accurately modeled. However, most practical systems are difficult to model accurately, and the time-varying system parameters and existing nonlinearity limit the engineering application of LQR. In the PMSM current control loop, there is strong nonlinear disturbance manifesting as the nonlinearity of its dynamic model. Additionally, substantial noise and variations in system parameters within actual motor circuits hinder the linear quadratic regulator from attaining optimal performance. A disturbance sliding mode observer is proposed to enhance the LQR controller, enabling superior performance in nonlinear current loop control. Simulation and actual hardware experiments were conducted to verify the performance and robustness of the control scheme proposed in this paper. Compared with the widely used PI controller in engineering and sliding mode control (SMC) specialising in disturbance rejection, it offers the advantage of straightforward parameter tuning and can swiftly achieve the robust and optimal control performance that engineers prioritize. Full article
(This article belongs to the Special Issue Recent Developments in Precision Actuation Technologies)
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14 pages, 6456 KiB  
Article
Research on Micro-/Nano-Positioning System Driven by a Stepper Motor
by Minjie Liu, Yangyang Yu, Liangyu Cui, Ning Ji and Xiaofan Deng
Actuators 2024, 13(7), 246; https://doi.org/10.3390/act13070246 - 28 Jun 2024
Cited by 1 | Viewed by 1143
Abstract
To achieve cost-effective micro-/nano-displacement adjustment, this paper integrates the advantages of flexible hinge micro-/nano-displacement transmission. A linear stepper motor is utilized as the driving component to design and develop a high-precision, low-cost micro-/nano-positioning system. The structure, design, and working principles of the micro-/nano-positioning [...] Read more.
To achieve cost-effective micro-/nano-displacement adjustment, this paper integrates the advantages of flexible hinge micro-/nano-displacement transmission. A linear stepper motor is utilized as the driving component to design and develop a high-precision, low-cost micro-/nano-positioning system. The structure, design, and working principles of the micro-/nano-positioning platform are introduced. The scaling factor model between micro-positioning platforms and nano-positioning platforms is analyzed. Static and dynamic models of flexible mechanisms have been established. The dimensions of the mechanical structure and the selection of motors are determined. The mechanical characteristics of the micro-/nano-positioning platform are validated through finite element analysis. To address the characteristic of increasing loads during the transmission process, an intelligent control system based on current feedback is designed and developed. The integration of drive and control provides a high level of system integration. Finally, experimental calibration was conducted to test the motion characteristics of the linear stepper motor-driven micro-/nano-positioning platform. It achieved a minimum displacement control resolution of 100 nm and demonstrated a certain level of stability. Full article
(This article belongs to the Special Issue Recent Developments in Precision Actuation Technologies)
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23 pages, 5168 KiB  
Article
Calibration Optimization of Kinematics and Dynamics for Delta Robot Driven by Integrated Joints in Machining Task
by Zhenhua Jiang, Yu Wang, Dongdong Liu and Tao Sun
Actuators 2024, 13(6), 219; https://doi.org/10.3390/act13060219 - 12 Jun 2024
Viewed by 1167
Abstract
For the application of Delta robots with a 3-R(RPaR) configuration in machining tasks, this paper constructed a 54-parameter kinematic error model and a simplified dynamic model incorporating an integrated joint’s position error and friction, respectively. Utilizing Singular Value Decomposition (SVD) of the Linear [...] Read more.
For the application of Delta robots with a 3-R(RPaR) configuration in machining tasks, this paper constructed a 54-parameter kinematic error model and a simplified dynamic model incorporating an integrated joint’s position error and friction, respectively. Utilizing Singular Value Decomposition (SVD) of the Linear Model Coefficient Matrix (LMCM) and the coefficient chart, a criterion for identifiability of error components is established. For good identification results, the optimal measurement surface with Fourier series form is obtained using a combination of the Hook–Jeeves Direct Search Algorithm (DSA) and Inner Point Method (IPM). The friction coefficients and other dynamic parameters are obtained through fitting the integrated joint torque-angle pairs measured along specific trajectories using nonlinear least squares regression. The validation of the calibration process is conducted through simulations and experiments. The calibration results provide a foundation for the precise control of integrated joints and the high-precision motion of robots. Full article
(This article belongs to the Special Issue Recent Developments in Precision Actuation Technologies)
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22 pages, 7165 KiB  
Article
An Improved Analytical Model of a Thrust Stand with a Flexure Hinge Structure Considering Stiffness Drift and Rotation Center Offset
by Xingyu Chen, Liye Zhao, Jiawen Xu and Zhikang Liu
Actuators 2024, 13(1), 21; https://doi.org/10.3390/act13010021 - 5 Jan 2024
Viewed by 1843
Abstract
Micro-newton thrust stands are widely used in thruster ground calibration procedures for a variety of space missions. The conventional analytical model does not consider the gravity-induced extension effect and systematic error in displacement for thrust stands consisting of hanging pendulums based on flexure [...] Read more.
Micro-newton thrust stands are widely used in thruster ground calibration procedures for a variety of space missions. The conventional analytical model does not consider the gravity-induced extension effect and systematic error in displacement for thrust stands consisting of hanging pendulums based on flexure hinge structures. This paper proposes an improved analytical model of a hanging pendulum for thrust measurement, where an elliptical notched flexure hinge is the key component. A parametric model of the bending stiffness of the flexure hinge is developed. Equally, both the bending stiffness shift under the gravity-induced extension effect and the systematic error in displacement due to the assumed rotational center offset of the hinge are investigated. The presented stiffness equations for elliptical notched hinges can be degenerated into stiffness equations for circular notched as well as leaf-type hinges. The improved model aims to evaluate and highlight the influence of the two considered factors for use in thrust stand parameter design and thrust analysis. A finite element modeling solution is proposed to validate the proposed analytical model. The results show that the proposed model can quantify the hinge bending stiffness shift, which also demonstrates that even a small bending stiffness shift may introduce great uncertainty into the thrust analysis. Full article
(This article belongs to the Special Issue Recent Developments in Precision Actuation Technologies)
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26 pages, 11800 KiB  
Article
A Novel Hierarchical Recursive Nonsingular Terminal Sliding Mode Control for Inverted Pendulum
by Hiep Dai Le and Tamara Nestorović
Actuators 2023, 12(12), 462; https://doi.org/10.3390/act12120462 - 11 Dec 2023
Cited by 2 | Viewed by 1980
Abstract
This paper aims to develop a novel hierarchical recursive nonsingular terminal sliding mode controller (HRNTSMC), which is designed to stabilize the inverted pendulum (IP). In contrast to existing hierarchical sliding mode controllers (HSMC), the HRNTSMC significantly reduces the chattering problem in control input [...] Read more.
This paper aims to develop a novel hierarchical recursive nonsingular terminal sliding mode controller (HRNTSMC), which is designed to stabilize the inverted pendulum (IP). In contrast to existing hierarchical sliding mode controllers (HSMC), the HRNTSMC significantly reduces the chattering problem in control input and improves the convergence speed of errors. In the HRNTSMC design, the IP system is first decoupled into pendulum and cart subsystems. Subsequently, a recursive nonsingular terminal sliding mode controller (RNTSMC) surface is devised for each subsystem to enhance the error convergence rate and attenuate chattering effects. Following this design, the HRNTSMC surface is constructed by the linear combination of the RNTSMC surfaces. Ultimately, the control law of the HRNTSMC is synthesized using the Lyapunov theorem to ensure that the system states converge to zero within a finite time. By invoking disturbances estimation, a linear extended state observer (LESO) is developed for the IP system. To validate the effectiveness, simulation results, including comparison with a conventional hierarchical sliding mode control (CHSMC) and a hierarchical nonsingular terminal sliding mode control (HNTSMC) are presented. These results clearly showcase the excellent performance of this approach, which is characterized by its strong robustness, fast convergence, high tracking accuracy, and reduced chattering in control input. Full article
(This article belongs to the Special Issue Recent Developments in Precision Actuation Technologies)
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17 pages, 9667 KiB  
Article
Research on the Vibration Reduction Mechanism of a New Tensioning Platform with an Embedded Superstructure
by Xiaoqing Sun, Zhengyin Yang, Ju Wang, Xiusong Hou and Yikun Yang
Actuators 2023, 12(7), 279; https://doi.org/10.3390/act12070279 - 8 Jul 2023
Viewed by 1638
Abstract
Aiming at the problem of precision driving and vibration suppression for sensitive payloads on-orbit, this paper proposes a new compliant platform based on an embedded superstructure and a smart material actuator. Firstly, the main structure of the platform is designed and optimized to [...] Read more.
Aiming at the problem of precision driving and vibration suppression for sensitive payloads on-orbit, this paper proposes a new compliant platform based on an embedded superstructure and a smart material actuator. Firstly, the main structure of the platform is designed and optimized to achieve the expected indicators via the response surface method. Then, the vibration reduction mechanism of the platform with the embedded superstructure is studied by establishing an equivalent model. Following that, a four-phase superstructure is matched and designed with a compact space, and the results are verified by finite element modal analysis. Finally, both the tensioning performance and vibration reduction performance under fixed frequency harmonic disturbance are studied via transient dynamic simulation. Based on the obtained results, directions for future improvements are proposed. The relevant conclusions can provide a reference for function integration of precision tensioning and vibration suppression. Full article
(This article belongs to the Special Issue Recent Developments in Precision Actuation Technologies)
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