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Advanced Precision Motion Control for Actuator Systems

A special issue of Sensors (ISSN 1424-8220). This special issue belongs to the section "Sensors and Robotics".

Deadline for manuscript submissions: closed (15 April 2025) | Viewed by 1077

Special Issue Editors


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Guest Editor
State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China
Interests: mechatronics; precision motion control; trajectory planning; intelligent manufacturing equipment
Special Issues, Collections and Topics in MDPI journals

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Guest Editor
School of Mechanical Engineering and Electronic Information, China University of Geosciences, Wuhan 430079, China
Interests: IC manufacturing/inspection equipment, precision measurement and control

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Guest Editor
Department of Mechanical Engineering, Institute of Mechatronic Engineering, Lee Shau Kee Building A803, Tsinghua University, Beijing 100084, China
Interests: visual servo; robotics; motion control

Special Issue Information

Dear Colleagues,

Precision actuators and the corresponding advanced motion control algorithms are indispensable in various fields such as industry, healthcare, and aerospace. With the development of actuator forms and emerging technologies like artificial intelligence, many advanced control theories and techniques have emerged in recent years. Therefore, this Special Issue will gather original research and review articles on the latest advancements, technologies, solutions, applications, and challenges in advanced precision motion control and actuators.

Potential topics include but are not limited to the following:

  • Special actuator design;
  • Advanced control theories;
  • Precision robotic systems;
  • Actuation system sensing and control;
  • Feedforward control methods;
  • Feedback control methods;
  • Novel actuation principles;
  • Multi-axis control methods;
  • Data-driven control;
  • Precision measurement methods;
  • Trajectory planning and control;
  • Intelligent control methods.

Dr. Ze Wang
Dr. Min Li
Dr. Jiuru Lu
Guest Editors

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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.

Keywords

  • advanced motion control
  • precision actuators
  • control theory
  • motion control systems
  • tracking control

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Published Papers (1 paper)

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Research

14 pages, 598 KiB  
Article
A Gradient Dynamics-Based Singularity Avoidance Method for Backstepping Control of Underactuated TORA Systems
by Changzhong Pan, Hongsen Pu, Zhijing Li and Jinsen Xiao
Sensors 2024, 24(17), 5458; https://doi.org/10.3390/s24175458 - 23 Aug 2024
Viewed by 762
Abstract
In this paper, a gradient dynamics-based control method is proposed to directly tackle the singularity problem in the backstepping control design of the TORA system. This method is founded upon the construction of an energy-like positive function, which includes an auxiliary variable in [...] Read more.
In this paper, a gradient dynamics-based control method is proposed to directly tackle the singularity problem in the backstepping control design of the TORA system. This method is founded upon the construction of an energy-like positive function, which includes an auxiliary variable in terms of the intermediate virtual control law. On this basis, a gradient dynamics is created to obtain a new virtual control command, which is capable of making the auxiliary variable gradually approach zero, thereby mitigating the issue of division by zero. The core innovation is the integration of the gradient dynamics into the recursive backstepping design to overcome the singularity problem and stabilize the system at the equilibrium quickly. In addition, it rigorously proves that all the signals in the closed-loop control system are uniformly ultimately bounded, and the tracking errors converge to a small neighborhood around zero through a Lyapunov-based stability analysis. Comparative simulations demonstrate that the proposed approach not only avoids the singularity issue, but also achieves a better transient performance over other methods. Full article
(This article belongs to the Special Issue Advanced Precision Motion Control for Actuator Systems)
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