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Advances in Energy Optimal Control of Electromechanical and Robotic Systems

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A special issue of Energies (ISSN 1996-1073). This special issue belongs to the section "A1: Smart Grids and Microgrids".

Deadline for manuscript submissions: closed (31 December 2022) | Viewed by 9055

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Special Issue Editors

Dr. Slawomir Jan Stepien

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Guest Editor

Institute of Automation and Robotics, Poznan University of Technology, Piotrowo 3a, 60-965 Poznan, Poland
Interests: applied automatic control and robotics; control theory; computational automatics

Dr. Dariusz Pazderski

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Guest Editor

Institute of Automatic Control and Robotics, Poznan University of Technology, 60-965 Poznan, Poland
Interests: nonlinear systems; robotics; mobile robotics; motion control; motion planning
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Special Issue Information

Dear Colleagues,

Accurate and precise control of electromechanical systems and robots is an area of active research worldwide. Efforts concentrate on finding solutions which guarantee high immunity of the electromechanical drives or robotic systems to external disturbances, such as a changing load, friction, varying contact points, or unmodeled dynamics, in terms of realizing prescribed trajectories while minimizing associated errors in position, velocity and force. Today, a rapidly emerging and promising objective is to minimize energy losses in the system parts, as well as the energy delivered from the source itself. This can be achieved by employing various open-loop and closed-loop energy-based control methods which make it possible to obtain optimal results considering the trade-off between control performance and energy efficiency.

The aim of the Special Issue is to present recent advances in the energy optimal control of electromechanical devices, drives and robotic systems, as well as to provide an open space for a discussion on the numerical methods in the modeling, analysis, and synthesis of control systems, computations, and energy optimization.

The contributions submitted to the Special Issue can be dedicated to the theory of electromechanical and robotic systems in analysis and design of existing and new constructions of energy optimal control systems and their industrial applications as well as latest developments of electromechanical drive and robotic systems and their constrained control methods with energy minimization. The proposed techniques and methods should be innovative and significant for the community interested in control and electrical engineering.

We are pleased to invite you to publish your latest developments in the above fields. Contributing to this Special Issue will enhance the visibility of your research and achievements.

Dr. Slawomir Jan Stepien
Dr. Dariusz Pazderski
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. Energies 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 2600 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.

Published Papers (5 papers)

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Research

25 pages, 6538 KiB

Open AccessArticle

Research on Refined Modeling and Fuzzy Control of Electro-Hydrostatic Actuator with Co-Simulation Method

by Ruizhe Li, Yuhuan Du and Yang Yu

Energies 2022, 15(23), 9129; https://doi.org/10.3390/en15239129 - 01 Dec 2022

Cited by 1 | Viewed by 1277

Abstract

The EHA is a highly integrated closed hydraulic system which is widely used in aerospace, vehicles, and robotics because of its high power and lightweight size. Due to the high non-linearity of the control system, it is difficult to reach a high robustness, leading to instability of the EHA system. In this paper, the fuzzy PID control strategy is proposed for overall control of the whole EHA system. Firstly, the structure and operating principle of EHA are analyzed. Secondly, the mathematical model and simulation model of the EHA-FPVM were established. Specially, to solve the problem of difficult calculation of non-linear factors such as friction and external forces, a co-simulation model was built in Matlab/Simulink AMESim, and a fuzzy PID controller was designed to control the EHA-FPVM. Finally, the PID and fuzzy PID controller were used to conduct simulation experiments, the simulation results are compared, and a servo-hydraulic system evaluation method is introduced to assess the simulation results. The results show that the EHA fuzzy PID control system has better output performance, lower overshoot percentages and steady-state errors, and the obtained evaluation scores are higher and more suitable for controlling EHA. Full article

(This article belongs to the Special Issue Advances in Energy Optimal Control of Electromechanical and Robotic Systems)

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25 pages, 2214 KiB

Open AccessFeature PaperArticle

Communication-Focused Top-Down Design of Robotic Systems Based on Binary Decomposition

by Piotr Pałka, Cezary Zieliński, Wojciech Dudek, Dawid Seredyński and Wojciech Szynkiewicz

Energies 2022, 15(21), 7983; https://doi.org/10.3390/en15217983 - 27 Oct 2022

Cited by 2 | Viewed by 1278

Abstract

This article proposes a formal method of designing robotic systems focusing on communication between components, as well as standardization of the messages between those components. The objective is to design a robotic system controller in a systematic way, focusing on communication at an abstract agent level. Communication, thus organized, and its properly defined specification facilitate the system’s further development. The method uses a standard message structure, based on IEEE FIPA standards, for communication within robotic systems composed of agents. Communication-focused top-down design of robotic systems based on binary decomposition is proposed, and used to design a companion robot working in the kitchen environment. The implemented robotic system is verified based on whether or not the specification conforms to the specified requirements. The characteristics of the designed communication are evaluated. The obtained results prove that the proposed method of designing robotic systems is formally correct, it facilitates the implementation of agents, and separates specification of the system from its implementation. The method of designing robotic systems is correct and useful. The proposed formal notation facilitates understanding of how the system operates and organizes the design process. It puts the communication between system components at the forefront. The resulting system specification facilitates the implementation. The tools for experimental evaluation of its characteristics enable the confirmation that it fulfills the requirements, and that the communication between the system components is correct. Full article

(This article belongs to the Special Issue Advances in Energy Optimal Control of Electromechanical and Robotic Systems)

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17 pages, 44710 KiB

Open AccessArticle

A Novel Magnetic Circuit Design Method for a Permanent Magnetic Chuck of a Wall-Climbing Robot

by Yulong Zhang, Enguang Guan, Peixing Li and Yanzheng Zhao

Energies 2022, 15(18), 6653; https://doi.org/10.3390/en15186653 - 12 Sep 2022

Cited by 4 | Viewed by 2233

Abstract

Permanent magnet wall-climbing robots are widely used in the maintenance of tanks in the petrochemical industry and the overhaul of large-pressure pipelines in the hydropower industry. One of the difficulties is to achieve the safe and reliable adsorption of wall-climbing robots. Based on the Halbach array, a double-layer superposition magnetic circuit magnetization method is designed in this paper. Under the same constraints, the adsorption force of the permanent magnetic chuck is increased by at least

8 %

compared with the traditional magnetic circuit design method. Under the working air gap of 1∼9 mm, the average magnetic energy utilization rate is increased by at least

16.46 %

. This approach not only improves the magnetic energy utilization of the permanent magnetic chuck but also improves the adsorption safety of the wall-climbing robot. Full article

(This article belongs to the Special Issue Advances in Energy Optimal Control of Electromechanical and Robotic Systems)

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23 pages, 3823 KiB

Open AccessArticle

Sub-Optimal Stabilizers of the Pendubot Using Various State Space Representations

by Dariusz Pazderski, Paweł Parulski, Patryk Bartkowiak and Przemysław Herman

Energies 2022, 15(14), 5146; https://doi.org/10.3390/en15145146 - 15 Jul 2022

Cited by 2 | Viewed by 1017

Abstract

This paper considers the issue of linear-quadratic regulator (LQR) design for nonlinear systems with the use of smooth state and input transformations. The proposed design methodology is considered in the stabilisation task of the Pendubot, which is based on the concept of feedback equivalent control systems. It turns out that it is possible to find a controller that ensures comparable dynamics of the closed-loop system in the vicinity of the set point regardless of the state-space representation adopted. In addition, the synthesis of suboptimal controllers according to the LQR strategy ensuring equal dynamics at the equilibrium point is presented. The properties of the studied controllers were investigated in a simulation environment and using experimental tests. The detailed forms of transformations and linear approximations given can be regarded as ready-made procedures that can be applied to stabilise similar mechanical systems in robotics. Full article

(This article belongs to the Special Issue Advances in Energy Optimal Control of Electromechanical and Robotic Systems)

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31 pages, 16339 KiB

Open AccessArticle

Energy Efficient UAV Flight Control Method in an Environment with Obstacles and Gusts of Wind

by Marcin Chodnicki, Barbara Siemiatkowska, Wojciech Stecz and Sławomir Stępień

Energies 2022, 15(10), 3730; https://doi.org/10.3390/en15103730 - 19 May 2022

Cited by 11 | Viewed by 2406

Abstract

This article presents an energy-efficient method of controlling unmanned aircraft (fixed-wing UAVs), which consists of three groups of algorithms: aerial vehicle route planning, in-flight control, and algorithms to correct the preplanned flight trajectory. All algorithms shall take into account the existence of obstacles that the UAV must avoid and wind gusts in the UAV’s area of operation. Tests were carried out on the basis of the UAV mathematical model, stabilization and navigation algorithms, and Dryden turbulence model, considering the parameters of the UAV’s propulsion system. The work includes a detailed description of constructing a network of connection that is used to plan a UAV mission. It presents the algorithm for determining the actual distances between the different points in the field of action, which takes into account the existence of obstacles. The algorithm shall be based on methods for determining the flight trajectory on a hexagonal grid. It presents the developed proprietary UAV path planning algorithm based on a model from a group of algorithms of mixed integer linear problem (MILP) optimization. It presents the manner in which the pre-prepared flight path was used by UAV controllers that supervised the flight along the preset path. It details the architecture of contemporary unmanned aerial vehicles, which have embedded capability to realize autonomous missions, which require the integration of UAV systems into the route planning algorithms set out in the article. Particular attention has been paid to the planning and implementation methods of UAV missions under conditions where wind gusts are present, which support the determination of UAV flight routes to minimize the vehicle’s energy consumption. The models developed were tested within a computer architecture based on ARM processors using the hardware-in-the-loop (HIL) technique, which is commonly used to control unmanned vehicles. The presented solution makes use of two computers: FCC (flight control computer) based on a real-time operating system (RTOS) and MC (mission computer) based on Linux and integrated with the Robot Operating System (ROS). A new contribution of this work is the integration of planning and monitoring methods for the implementation of missions aimed at minimizing energy consumption of the vehicle, taking into account wind conditions. Full article

(This article belongs to the Special Issue Advances in Energy Optimal Control of Electromechanical and Robotic Systems)

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