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Electronics
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Nonlinear Control in Robotics
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Nonlinear Control in Robotics

A special issue of Electronics (ISSN 2079-9292). This special issue belongs to the section "Systems & Control Engineering".

Deadline for manuscript submissions: closed (30 April 2022) | Viewed by 11075

Special Issue Editor

Prof. Dr. Jorge Pomares

E-Mail Website
Guest Editor
Department of Physics, Systems Engineering and Signal Theory, University of Alicante, 03690 Alicante, Spain
Interests: visual servoing; robot control; space robotics
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Robot controllers are a key component in any robotic system, and a robot’s behavior, precision, repeatability, stability, etc., depends on the controller’s properties. PID controllers are probably the most extended approach for implementing these controllers. However, nowadays different controllers with different dynamic properties are being used for robot control and guidance, which allows robots to perform better. 

This Special Issue on “Nonlinear Control in Robotics”, part of the Electronics MDPI Journal, offers a framework for the presentation of scientific research that brings together interesting and relevant contributions in the field of nonlinear controllers applied in robotics. Therefore, this Special Issue is focused on new approaches for nonlinear control in robotic systems (manipulators, mobile robotics, drones, UAV, humanoid robots, space robotics, etc.). These new approaches include but are not limited to the following: 

  • Motion control;
  • Force control;
  • Visual serving;Neural networks in robot control;
  • Intelligent control in robotics;
  • Deep learning and machine learning;
  • Optimal control in robotics;
  • Adaptive and robust control in robotics;
  • Model-based control design for robotic systems;
  • Modeling and simulation of robotic systems;
  • Nonlinear controllers in field robotics.

Prof. Dr. Jorge Pomares
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. Electronics is an international peer-reviewed open access semimonthly 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

  • Nonlinear robot control
  • Visual serving
  • Force control
  • Motion control
  • Intelligent control
  • Fuzzy and neural control
  • Robust and optimal control of robots
  • Control and guidance of field robotics
  • Control of humanoid robots

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Published Papers (3 papers)

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Research

19 pages, 2832 KiB  
Article
Preliminary Design of a Receding Horizon Controller Supported by Adaptive Feedback
by Hazem Issa and József K. Tar
Electronics 2022, 11(8), 1243; https://doi.org/10.3390/electronics11081243 - 14 Apr 2022
Cited by 3 | Viewed by 1800
Abstract
Receding horizon controllers are special approximations of optimal controllers in which the continuous time variable is discretized over a horizon of optimization. The cost function is defined as the sum of contributions calculated in the grid points and it is minimized under the [...] Read more.
Receding horizon controllers are special approximations of optimal controllers in which the continuous time variable is discretized over a horizon of optimization. The cost function is defined as the sum of contributions calculated in the grid points and it is minimized under the constraint that expresses the dynamic model of the controlled system. The control force calculated only for one step of the horizon is exerted, and the next horizon is redesigned from the measured initial state to avoid the accumulation of the effects of modeling errors. In the suggested solution, the dynamic model is directly used without any gradient reduction by using a transition between the gradient descent and the Newton–Raphson methods to achieve possibly fast operation. The optimization is carried out for an "overestimated" dynamic model, and instead of using the optimized force components the optimized trajectory is adaptively tracked by an available approximate dynamic model of the controlled system. For speeding up the operation of the system, various cost functions have been considered in the past. The operation of the method is exemplified by simulations made for new cost functions and the dynamic control of a 4-degrees-of-freedom SCARA robot using the simple sequential Julia language code realizing Euler integration. Full article
(This article belongs to the Special Issue Nonlinear Control in Robotics)
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16 pages, 3754 KiB  
Article
Robust Terminal Sliding Mode Control on SE(3) for Gough–Stewart Flight Simulator Motion Platform with Payload Uncertainty
by Binhai Xie and Shuling Dai
Electronics 2022, 11(5), 814; https://doi.org/10.3390/electronics11050814 - 4 Mar 2022
Cited by 6 | Viewed by 2777
Abstract
This work proposes a robust terminal sliding mode control scheme on Lie group space SE(3) for Gough–Stewart flight simulator motion systems with payload uncertainty. A complete dynamic model with geometric mechanical structures and a computer dynamic model built in the MATLAB/Simulink package are [...] Read more.
This work proposes a robust terminal sliding mode control scheme on Lie group space SE(3) for Gough–Stewart flight simulator motion systems with payload uncertainty. A complete dynamic model with geometric mechanical structures and a computer dynamic model built in the MATLAB/Simulink package are briefly presented. The robust control strategy on the Lie group SE(3) is applied at the workspace level to counteract the effects of imperfect compensation due to model simplification and payload uncertainty in flight simulator application. With exponential coordinates for configuration error and adjoint operator on Lie algebra se(3), the robust control strategy is designed to guarantee almost global finite-time convergence over state space through the Lyapunov stability theory. Finally, a describing function and a step acceleration response to characterize the performance of a flight simulator motion base are employed to compare the robustness performance of the proposed controller on SE(3) with the conventional terminal sliding mode controller on Cartesian space. The comparison experimental results verify that the proposed controller on SE(3) provides better robustness than the conventional controller on Cartesian space, which means higher bandwidth in two degrees of freedom and faster response with smaller tracking error in six degrees of freedom. Full article
(This article belongs to the Special Issue Nonlinear Control in Robotics)
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22 pages, 673 KiB  
Article
Trajectory Tracking and Stabilization of Nonholonomic Wheeled Mobile Robot Using Recursive Integral Backstepping Control
by Muhammad Junaid Rabbani and Attaullah Y. Memon
Electronics 2021, 10(16), 1992; https://doi.org/10.3390/electronics10161992 - 18 Aug 2021
Cited by 34 | Viewed by 5064
Abstract
In this paper, a generalized nontriangular normal form is presented to facilitate designing a recursive integral backstepping control for the class of underactuated nonholonomic systems, i.e., wheeled mobile robots (WMRs) that perform posture stabilization and trajectory tracking in environments without obstacles. Based on [...] Read more.
In this paper, a generalized nontriangular normal form is presented to facilitate designing a recursive integral backstepping control for the class of underactuated nonholonomic systems, i.e., wheeled mobile robots (WMRs) that perform posture stabilization and trajectory tracking in environments without obstacles. Based on the differential geometry theory, we develop a multiple input multiple output (MINO) generalization of normal form using the input-output feedback linearization technique. Then, the change of variables (diffeomorphism) transform the state-space model of WMR, incorporating both kinematic and dynamic models into nontriangular normal form. As a result, the system dynamics can be represented as internal and external dynamics. The nonlinear internal dynamics of WMR pose serious challenges to design a suitable controller due to its internal dynamics being not minimum phase and non-strict feedback form structure. The proposed backstepping controller is designed in two steps. First, a standard integral backstepping controller is designed to stabilize the robot’s orientation angle. Then, a recursive integral backstepping control technique is applied to achieve asymptotic convergence of position error to zero. Hence, both asymptotic posture stabilization and trajectory tracking are achieved in semi-global regions, except the nonzero initial condition of the orientation angle. The asymptotic stability of the entire closed-loop system is shown using the Lyapunov criteria. Full article
(This article belongs to the Special Issue Nonlinear Control in Robotics)
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