Research

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17 pages, 6216 KiB

Open AccessArticle

An Autonomous Maze-Solving Robotic System Based on an Enhanced Wall-Follower Approach

by Shatha Alamri, Hadeel Alamri, Wejdan Alshehri, Shuruq Alshehri, Ahad Alaklabi and Tareq Alhmiedat

Machines 2023, 11(2), 249; https://doi.org/10.3390/machines11020249 - 08 Feb 2023

Cited by 2 | Viewed by 5145

Abstract

Autonomous robots are designed to discover and interpret their surroundings and orient themselves around obstacles to reach the destination point from an initial point. Robot autonomous navigation is a requirement for maze-solving systems, where the solver robot is required to navigate the maze [...] Read more.

Autonomous robots are designed to discover and interpret their surroundings and orient themselves around obstacles to reach the destination point from an initial point. Robot autonomous navigation is a requirement for maze-solving systems, where the solver robot is required to navigate the maze area to get its desire destination location using the fastest route possible. In this paper, a new, modified wall-follower system for a maze-solving robot was proposed that overcame the infinite loop-back issue in the traditional wall-follower approaches. We also investigated and analyzed the performance of three different maze-solving algorithms and compared them with the proposed, modified wall-follower robotic system by conducting several real experiments to validate the efficiency of the developed wall-follower robotic system. Full article

(This article belongs to the Special Issue Intelligent Mechatronics: Perception, Optimization, and Control)

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16 pages, 4034 KiB

Open AccessArticle

Structural Vibration Suppression Using a Reduced-Order Extended State Observer-Based Nonsingular Terminal Sliding Mode Controller with an Inertial Actuator

by Juan Zhai, Shengquan Li, Gongli Tan, Juan Li, Zhuang Xu and Luyao Zhang

Machines 2023, 11(1), 1; https://doi.org/10.3390/machines11010001 - 20 Dec 2022

Viewed by 1388

Abstract

In this paper, we mainly aimed to design a reduced-order extended state observer-based active vibration controller for a structural vibration control system with total disturbances, i.e., model uncertainties, higher harmonics, and external excitations. A reduced-order extended state observer (RESO)-based nonsingular terminal sliding mode [...] Read more.

In this paper, we mainly aimed to design a reduced-order extended state observer-based active vibration controller for a structural vibration control system with total disturbances, i.e., model uncertainties, higher harmonics, and external excitations. A reduced-order extended state observer (RESO)-based nonsingular terminal sliding mode vibration control (RESO–NTSMVC) method is proposed for the vibration suppression of an all-clamped plate structure with an inertial actuator. First, a second-order state space model of the thin plate, with an inertial actuator, was established by solving the dynamic partial differential equation and analyzing the physical model. Second, the total disturbances, i.e., model uncertainties, higher harmonics, and external excitations, were estimated and compensated for by using a RESO via a feedforward part. Third, a NTSMVC based on an estimated value was designed to obtain a fast-tracking rate and effective vibration suppression performance. In addition, the stability of the closed-loop system was proven by using a Lyapunov stability criterion. Finally, a semi-physical experimental instrument was built based on the MATLAB/Simulink real-time environment and the NI-PCIE6343 acquisition card to verify strong anti-disturbance performance and effective vibration control performance of the designed method. The experimental comparison results showed that the vibration amplitudes of the proposed method could be reduced by 11.7 dB, when the traditional extended state observer-based nonsingular terminal sliding mode vibration control (ESO–NTSMVC) method achieved a control effect of only 6.5 dB. The comparative experimental results showed that the proposed method possessed better vibration suppression performance and anti-disturbance performance. Full article

(This article belongs to the Special Issue Intelligent Mechatronics: Perception, Optimization, and Control)

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21 pages, 3275 KiB

Open AccessArticle

A Digital Observer-Based Repetitive Learning Composite Control Method for Large Range Piezo-Driven Nanopositioning Systems

by Cunhuan Liu, Yongchun Fang, Yinan Wu and Zhi Fan

Machines 2022, 10(11), 1092; https://doi.org/10.3390/machines10111092 - 18 Nov 2022

Cited by 1 | Viewed by 1134

Abstract

In this study, a novel digital compound compensation method is proposed to compensate for the hysteresis nonlinearity and the drift disturbance of a piezoelectric nanopositioning system with a large range. The overall hysteresis behaviors can be divided into the static amplitude-dependent behavior and [...] Read more.

In this study, a novel digital compound compensation method is proposed to compensate for the hysteresis nonlinearity and the drift disturbance of a piezoelectric nanopositioning system with a large range. The overall hysteresis behaviors can be divided into the static amplitude-dependent behavior and the dynamic rate-dependent behavior, where the static hysteresis is compensated for by a novel discrete feedforward controller, while the dynamic hysteresis and the drift disturbance are compensated for by a novel discrete composite feedback controller composed of a drift observer-based state feedback controller and a repetitive learning controller. Compared with traditional control strategies, the proposed compound control strategy, including feedforward and feedback components, can eliminate system errors more effectively when tracking large range signals with obvious hysteresis. Moreover, the proposed online drift observer is superior over a traditional offline drift compensator both in response speed and compensation accuracy. Sufficient simulation tests and convincing tracking experiments, with large range periodic signals up to 90

μ

m, are carried out. And comparisons with the two classical control algorithms are performed. The tracking results show that the mean absolute error of the proposed control method is minor compared with the other two algorithms, which validates that the proposed strategy can efficiently compensate for the hysteresis nonlinearity and the drift disturbance. Full article

(This article belongs to the Special Issue Intelligent Mechatronics: Perception, Optimization, and Control)

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17 pages, 11330 KiB

Open AccessArticle

Elastic Obstacle-Surmounting Pipeline-Climbing Robot with Composite Wheels

by Jie Li, Feng Huang, Chunlei Tu, Mengqian Tian and Xingsong Wang

Machines 2022, 10(10), 874; https://doi.org/10.3390/machines10100874 - 28 Sep 2022

Cited by 2 | Viewed by 1885

Abstract

Regular inspection and maintenance can ensure safe working conditions of transport pipelines without leakage and damage. Pipeline-climbing robots can be used for rapid inspection of pipelines, effectively reducing labor costs and time consumption. For the annular pipelines outside spherical tanks, the special distribution [...] Read more.

Regular inspection and maintenance can ensure safe working conditions of transport pipelines without leakage and damage. Pipeline-climbing robots can be used for rapid inspection of pipelines, effectively reducing labor costs and time consumption. For the annular pipelines outside spherical tanks, the special distribution and installation form presents more high obstacles, and puts forward higher requirements for the robot’s climbing performance and obstacle-surmounting ability. An elastic obstacle-surmounting pipeline-climbing robot with composite wheels is proposed in this paper. The designed elastic shock-absorbing suspension mechanisms and composite wheels were designed to increase the stability and obstacle-surmounting ability of the robot. The adjustable robot frame and rotating joint mechanisms allowed the robot to adapt to pipelines of different diameters and radians. Force analysis and simulation of obstacle surmounting by the robot were performed. Experiments were conducted on a 110-mm diameter pipeline to test the payload performance and obstacle-surmounting ability of the robot. With its elastic shock-absorbing suspension mechanisms, the pipeline-climbing robot could carry a 30 kg payload and stably climb the pipeline. The maximum height of obstacles surmounted by the composite wheels of the robot was 20 mm. In the process of surmounting obstacles, the velocity and inclination angle of the robot could remain relatively stable. This novel composite wheels and mechanisms can improve the performance of the pipeline-climbing robot and solve the problem of surmounting high obstacles. By carrying various equipment and instruments, the robot can promote the automated maintenance and inspection of complex pipelines. Full article

(This article belongs to the Special Issue Intelligent Mechatronics: Perception, Optimization, and Control)

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18 pages, 6443 KiB

Open AccessArticle

Open-Switch Fault Detection Based on Open-Winding Five-Phase Fault-Tolerant Permanent-Magnet Motor Drives

by Ronghua Cui, Shangshang Yu and Shengquan Li

Machines 2022, 10(10), 829; https://doi.org/10.3390/machines10100829 - 21 Sep 2022

Cited by 2 | Viewed by 1192

Abstract

The difficulty of open-switch fault detection in an open-winding inverter is that the fault at the diagonally opposite position within the H-bridge power cell has the same fault characteristics. To solve this problem, this paper proposes an open-switch fault detection method based on [...] Read more.

The difficulty of open-switch fault detection in an open-winding inverter is that the fault at the diagonally opposite position within the H-bridge power cell has the same fault characteristics. To solve this problem, this paper proposes an open-switch fault detection method based on open-winding (OW) five-phase fault-tolerant permanent-magnet (FPFTPM) motor drives. The detection method includes three steps: first, the drives open-switch fault is detected by monitoring the component of the third harmonic residual in the stationary reference frame; second, the least squares iterative method based on the forgetting factor is used to identify the relationship between the residual components, which determines the faulty phase and the faulty phase current type; third, an online current injection test method is proposed to accurately identify the open-switch within the H-bridge power cell. Based on the above steps, the open-switch fault at the diagonally opposite position within the H-bridge power cell could be accurately identified. The novelty of the proposed method lies in the possibility that the open-switch fault detection of any switches within the one H-bridge power cell could be accurately achieved by an online current injection test and does not require hardware changes. The experimental results demonstrate the effectiveness of the proposed detection method. Full article

(This article belongs to the Special Issue Intelligent Mechatronics: Perception, Optimization, and Control)

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20 pages, 5309 KiB

Open AccessArticle

A Novel Auxiliary Excretion Approach to a Lavatory Robot with Safety and Robustness

by Donghui Zhao, Zihan Zhang, Junyou Yang, Shuoyu Wang and Yokoi Hiroshi

Machines 2022, 10(8), 657; https://doi.org/10.3390/machines10080657 - 05 Aug 2022

Cited by 1 | Viewed by 1399

Abstract

The excretion behavior in daily life for the elderly and the disabled is a high frequency, high physical load, and risky behavior. Therefore, we proposed an auxiliary lavatory robot (ALR) with autonomous movement and self-cleaning capability. When the nursing staff assists a user [...] Read more.

The excretion behavior in daily life for the elderly and the disabled is a high frequency, high physical load, and risky behavior. Therefore, we proposed an auxiliary lavatory robot (ALR) with autonomous movement and self-cleaning capability. When the nursing staff assists a user in transferring from a standing or lying state to sitting on the ALR, the ALR can follow the user according to their position and posture. Over the whole transfer process, the ALR always provides the user with the best transfer position and posture, which is an effective approach to reduce workload and physical load. However, confusion and occlusion of the lower limbs between the nursing staff and the user would affect the user’s posture recognition. First, in this paper, a method combined with object segmentation and shape constraint was proposed to extract the contour of the lower limbs of the user and the nursing staff. Then, depending on the position constraint and dynamic characteristics of the legs contour and back contour of the user, a dynamic posture recognition approach based on a two-level joint probabilistic data association algorithm (JPDA) was proposed. Finally, the leg target recognition experiment, path-tracking experiment, and auxiliary excretion transfer experiment were implemented to verify the effectiveness and robustness of our proposed algorithm. The experimental results showed that our proposed method improved the safety and convenience of the user, and it also reduced the workload and physical load of the nursing staff. The ALR, integrated with the proposed method, has a good universal property for the elderly and disabled with weak motion capability in hospitals, pension centers, and families. Full article

(This article belongs to the Special Issue Intelligent Mechatronics: Perception, Optimization, and Control)

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13 pages, 1925 KiB

Open AccessCommunication

Vibration Control of Disturbed All-Clamped Plate with an Inertial Actuator Based on Cascade Active Disturbance Rejection Control

by Luyao Zhang, Juan Li, Shengquan Li and Renjing Gu

Machines 2022, 10(7), 528; https://doi.org/10.3390/machines10070528 - 29 Jun 2022

Cited by 3 | Viewed by 1394

Abstract

In this paper, active disturbance rejection control (ADRC) is applied to the vibration control of the all-clamped plate structure with an inertial actuator. Knowing that modeling uncertainties, dynamic nonlinearities and multivariable couplings are often the major causes of a downgrading performance and instability, [...] Read more.

In this paper, active disturbance rejection control (ADRC) is applied to the vibration control of the all-clamped plate structure with an inertial actuator. Knowing that modeling uncertainties, dynamic nonlinearities and multivariable couplings are often the major causes of a downgrading performance and instability, a cascade ADRC controller is, hence, utilized to mitigate the effects of these issues. The dynamics regarding the all-clamped plate structure and inertial actuator are obtained through theoretical analysis and experimental testing. Furthermore, the real-time control experimental verification is carried out on the hardware-in-the-loop platform based on the NI PCIe-6343 data acquisition card. The comparative experimental results show that the proposed cascade ADRC controller has a better vibration suppression performance, disturbance rejection performance and decoupling ability. Full article

(This article belongs to the Special Issue Intelligent Mechatronics: Perception, Optimization, and Control)

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Review

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19 pages, 1676 KiB

Open AccessReview

Active Disturbance Rejection Control for Piezoelectric Smart Structures: A Review

by Juan Li, Luyao Zhang, Shengquan Li, Qibo Mao and Yao Mao

Machines 2023, 11(2), 174; https://doi.org/10.3390/machines11020174 - 27 Jan 2023

Cited by 16 | Viewed by 2247

Abstract

The piezoelectric smart structures, which can be labeled as the cream of the crop of smart structures without overstatement, are strongly impacted by a large number of uncertainties and disturbances during operation. The present paper reviews active disturbance rejection control (ADRC) technologies developed [...] Read more.

The piezoelectric smart structures, which can be labeled as the cream of the crop of smart structures without overstatement, are strongly impacted by a large number of uncertainties and disturbances during operation. The present paper reviews active disturbance rejection control (ADRC) technologies developed for application in piezoelectric smart structures, focusing on measurement, analysis, estimation, and attenuation of uncertainties/disturbances in systems. It first explained vast categories of uncertainties/disturbances with their adverse influences. Then, after a brief introduction to the application of basic ADRC in smart structures, a thorough review of recently modified forms of ADRC is analyzed and classified in terms of their improvement objectives and structural characteristics. The universal advantages of ADRC in dealing with uncertainties and its improvement on the particularity of smart structures show its broad application prospects. These improved ADRC methods are reviewed by classifying them as modified ADRC for specific problems, modified ADRC by nonlinear functions, composite control based on ADRC, and ADRC based on other models. In addition, the application of other types of active anti-disturbances technologies in smart structures is reviewed to expand horizons. The main features of this review paper are summarized as follows: (1) it can provide profound understanding and flexible approaches for researchers and practitioners in designing ADRC in the field and (2) light up future directions and unsolved problems. Full article

(This article belongs to the Special Issue Intelligent Mechatronics: Perception, Optimization, and Control)

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