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Actuators
Special Issues
Control of Hydraulic Robotic Manipulators
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Control of Hydraulic Robotic Manipulators

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

Deadline for manuscript submissions: 30 June 2025 | Viewed by 2315

Special Issue Editor

Dr. Daniel Hagen

E-Mail Website
Guest Editor
Department of Engineering Sciences, University of Agder, 4879 Grimstad, Norway
Interests: robotics and automation; electro-hydraulic actuation systems; offshore mechatronics; model-based design; motion compensation; digital twins; real-time control systems; applied AI/ML; autonomous systems

Special Issue Information

Dear Colleagues,

In an era in which sustainability and digitalization are paramount, rapid advancements in artificial intelligence have catalyzed a transformative shift in the realm of robotic manipulators. This evolution demands not only more intelligent but also more energy-efficient systems. In the face of this challenge, hydraulic actuation systems must innovate to maintain their competitive edge against purely electric actuation systems. This necessitates breakthroughs in both hardware and software technologies.

On behalf of the journal Actuators, I am pleased to welcome contributions for this Special Issue that address these emerging needs in hydraulic actuation systems and control. We welcome papers from diverse fields that contribute to the advancement of this domain. In particular, we are interested in submissions focusing on the following topics:

  • Electro-hydraulic/hydrostatic actuators: Exploring advancements in combining electrical and hydraulic systems.
  • Energy-efficient solutions: Innovations aimed at reducing the energy consumption of hydraulic systems.
  • Electric vs. Hydraulics: Comparative studies and analyses.
  • Modeling and Simulations: Theoretical and practical approaches to system modeling.
  • Model-based Design: Strategies for designing hydraulic systems using model-based methodologies.
  • Digital Twin: Integration of digital twin technology in hydraulic systems.
  • Optimal and Health-aware Control: Techniques for enhancing system efficiency and longevity.
  • Applied AI/Machine Learning: The application of AI and ML in improving hydraulic system performance.
  • Offshore Robotics: Innovations in motion compensation and other offshore robotic applications.
  • Assistive Technology: Developments in hydraulic systems for assistive devices and technologies.

Your contributions will play a vital role in shaping the future of hydraulic actuation systems in a digitally driven and sustainable world.

Dr. Daniel Hagen
Guest Editor

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

  • electro-hydraulic/hydrostatic actuators
  • energy-efficient solutions
  • electric vs. hydraulics
  • modeling and simulations
  • model-based design
  • digital twin
  • optimal and health-aware control
  • applied AI/machine learning
  • offshore robotics
  • assistive technology

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

Published Papers (2 papers)

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Research

33 pages, 16932 KiB  
Article
Real-Time Simulation-Based Control of an Electro-Hydraulic Flexible Manipulator
by Daniel Hagen, Katrine Als Hansen, Jonas Holmen and Michael Rygaard Hansen
Actuators 2025, 14(2), 80; https://doi.org/10.3390/act14020080 - 8 Feb 2025
Viewed by 712
Abstract
This paper presents the modeling and control of a flexible single-boom crane manipulator using a high-fidelity real-time simulation model. The model incorporates both electro-hydraulic actuation and flexible-body dynamics, with the flexible boom represented via the lumped parameter method. A systematic tuning and validation [...] Read more.
This paper presents the modeling and control of a flexible single-boom crane manipulator using a high-fidelity real-time simulation model. The model incorporates both electro-hydraulic actuation and flexible-body dynamics, with the flexible boom represented via the lumped parameter method. A systematic tuning and validation procedure ensures that the model accurately replicates the physical system’s dynamics, achieving an eigenfrequency accuracy of approximately 97% and a piston-position deviation within 1.2% of the overall stroke length in final tests. The real-time simulation model is utilized in both open-loop and closed-loop control schemes to investigate whether simulated data can reduce dependency on sensor feedback compared to a benchmark controller. While the simulation-based controller alone does not match the fully sensor-based closed-loop accuracy, the simulation-based feedforward improves performance by 83% compared to the standard model-based velocity feedforward. Additionally, integrating the real-time simulation with sensor feedback enhances the benchmark controller’s performance by approximately 16%. These findings highlight the potential of combining real-time, nonlinear simulation with conventional sensor feedback to enhance the control of electro-hydraulic flexible manipulators. Full article
(This article belongs to the Special Issue Control of Hydraulic Robotic Manipulators)
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14 pages, 3221 KiB  
Article
Experimental Verification of a Two-Motor-Two-Pump Motor-Controlled Hydraulic Cylinder with Throttle-Free Passive Load-Holding Capability in Four-Quadrant Operations
by Wei Zhao, Morten Kjeld Ebbesen, Michael Rygaard Hansen and Torben Ole Andersen
Actuators 2024, 13(9), 372; https://doi.org/10.3390/act13090372 - 20 Sep 2024
Cited by 1 | Viewed by 932
Abstract
Among various motor-controlled hydraulic cylinder (MCC) topologies, the two-motor-two-pump (2M2P) MCC distinguishes itself through several notable advantages, including precise cylinder pressure control and eliminating mode switch oscillations. Nevertheless, there are challenges remaining in fully realizing its operations across four quadrants and establishing an [...] Read more.
Among various motor-controlled hydraulic cylinder (MCC) topologies, the two-motor-two-pump (2M2P) MCC distinguishes itself through several notable advantages, including precise cylinder pressure control and eliminating mode switch oscillations. Nevertheless, there are challenges remaining in fully realizing its operations across four quadrants and establishing an effective load-holding function within these operations. This study bridges this gap by implementing a 2M2P MCC prototype on a laboratory knuckle boom crane, enabling operation across all four quadrants. Experimental results indicate that position tracking errors remain within ±2.5 mm across three cases, which is well below 1% of the total cylinder travels in the experiments. Furthermore, smooth intersection of cylinder-bore-side and rod-side pressures is observed during transitions between quadrants. In conclusion, the proposed 2M2P MCC demonstrates seamless operation throughout all quadrants, with the load-holding function smoothly activating and deactivating in all four quadrants. Full article
(This article belongs to the Special Issue Control of Hydraulic Robotic Manipulators)
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