To realize the stable tracking control of the optoelectronic stabilized platform system under nonlinear friction and external disturbance, an active disturbance rejection controller (ADRC) with friction compensation is proposed to improve the target...
This paper presents a fault-tolerant control (FTC) strategy for a six-degree-of-freedom (DoF) anthropomorphic manipulator operating under actuator faults and complex friction dynamics. The proposed framework integrates a backstepping control methodol...
Prostate cancer has one of the highest incidences of male malignant tumors worldwide. Its treatment involves the robotic implantation of radioactive seeds in the perineum, a safe and effective procedure for early, low-risk prostate cancer. In order t...
This paper presents an enhanced pseudo-rigid body model (PRBM) integrated with the LuGre friction law to analyze the dynamic behavior of flexure-hinge-based piezoelectric stick–slip actuators (PSSAs). The PRBM captures flexure compliance throug...
Electrode roll-forming refers to rolling a battery electrode into a preset thickness through the electro-hydraulic servo pump-controlled hydraulic roll gap thickness automatic control system (known to as pump-controlled AGC). Compared with the motor...
Ball joints are components of the vehicle axle, and their friction characteristics must be considered when evaluating vibration behavior and ride comfort in driving simulator-based simulations. To model the three-dimensional friction behavior of ball...
To address the issues of low positional accuracy and significant torque pulsation caused by gear backlash and nonlinear friction in the mechanical transmission mechanism of aeronautical flap electromechanical actuators, we propose a model predictive...
This paper shows the design and modeling of an end effector with a bidirectional telescopic mechanism to allow a surgical assistant robot to hold and handle surgical instruments. It also presents a force-free control algorithm for the direct teaching...
In Micromachines, like any mechanical system, friction compensation is an important topic for control design application. In real applications, a nonlinear control scheme has proven to be an efficient method to mitigate the effects of friction. There...
This paper focuses on the finite-time tracking control problem of shield tunneling systems in the presence of constraints on the states and control input. By modeling the system based on the LuGre friction model, an effective method of tracking contr...
Friction is an inherent nonlinear disturbance that can lead to creeping, jitter, and decreased tracking precision in an electro-hydraulic servo system. In this paper, the LuGre friction model is used to describe the dynamic and static characteristics...
A dynamic load simulator, which can reproduce on-ground aerodynamic hinge moment of control surface, is an essential rig for the performance and stability test of an aircraft actuation system. In this paper, an observer-based backstepping adaptive co...
This paper focuses on the theoretical and analytical modeling of a novel seismic isolator termed the Passive Friction Mechanical Metamaterial Seismic Isolator (PFSMBI) system, which is designed for seismic hazard mitigation in multi-story buildings....
The rolling mill with hydraulic system is widely used in the production of strip steel. For the problem of vertical vibration of the rolling mill, the effects of different equivalent damping coefficient, leakage coefficient, and proportional coeffici...
This paper deals with an experimental study on the modeling and identification of the hysterical behavior of inerters. Unlike existing methods that can only consider a constant inertance to capture a static model of the device, we develop three diffe...
Friction has long been an important issue in multibody dynamics. Static friction models apply appropriate regularization techniques to convert the stick inequality and the non-smooth stick–slip transition of Coulomb’s approach into a cont...
The energy consumption of the electric test vehicle on the roller dynamometer test bench is thoroughly investigated in this work. Initially, we extensively examined the relevant testing approaches on chassis dynamometer test benches. Then, we present...
The aim of this paper is to develop an approach to increase the accuracy of industrial robots for machining processes. During machining tasks, process forces displace the end effector of the robot. A simulation of the various process influences is th...
The dead-zone input and hydraulic cylinder friction of the pump-controlled automatic gauge control (AGC) system introduce significant challenges to the high-precision rolling of lithium battery pole pieces. To address these nonlinearities, this paper...
Although many friction models have been developed by various researchers over the years, a general model does not exist yet. In this article, we present the work that was developed to identify and propose an empirical model that represents the behavi...
Cylinder has become an indispensable and important pneumatic actuator in the development of green production technology. The sealing performance of the cylinder directly affects its safety and reliability. Under the service environment of the cylinde...
This paper focuses on improving the tracking accuracy for servo systems and increasing the contouring performance of precision machining. The dynamic friction during precision machining is analyzed using the LuGre model. The dynamic and static parame...
Increasing requirements for the safety of human-robot interaction and the cost-effectiveness of collision detection rapidly promote the development of collision detection technology without torque sensors. To address nonlinear disturbance factors in...
Both the dynamic characteristics and structural nonlinearities of an actuator will affect the flutter boundary of a fin–actuator system. The actuator models used in past research are not universal, the accuracy is difficult to guarantee, and the cons...
This paper investigates the transmission performance of a novel dual-drive hydrostatic lead screw micro-nano feed system (DDHLS) that can obtain extremely low speed. Firstly, the oil film liquid friction of hydrostatic transmission is modelled, and t...
Permanent magnet synchronous motor (PMSM) servo system is the control and execution mechanism of spacecraft, and its precise modeling is of great practical significance for improving the performance of the spacecraft. A comprehensive model considerin...
In this paper, a new controller for an operating manipulator work in the space microgravity environment is proposed. First, on the basis of the load variation caused by microgravity, a sliding mode control method is used to model the gravity term, an...
In the field of transportation, the accurate estimation of tire–road peak friction coefficient (TRPFC) is very important to improve vehicle safety performance and the efficiency of road maintenance. The existing estimation algorithms rarely con...
A compound scheme, based on an improved active disturbance rejection controller (ADRC) and nonlinear compensation, is developed for the electromechanical actuator (EMA) system in this paper. First, considering the influences of backlash, friction on...
In this study, to further improve the dynamic performance and steady-state accuracy of the electromagnetic linear actuator (EMLA) for the direct-drive system, the adaptive non-singular terminal sliding mode controller (ANTSMC) based on an improved di...
In ultra-precision positioning equipment, the positioning accuracy is affected by the friction characteristics, especially the pre-slip stage. At present, the research on friction mainly includes contact theory and the dynamic friction process. There...
In this paper, a novel nonlinear model and high-precision lifting motion control method of a hydraulic manipulator driven by a proportional valve are presented, with consideration of severe system nonlinearities, various uncertainties as well as valv...
Road-rail vehicles built on traditional vehicle chassis can only switch operation modes at particular areas such as level crossings, thus limiting the working scope and efficiency of routine railway inspection and maintenance. This paper proposes a n...
The hydrostatic actuation system based on linear actuators improves the complex piston force and long transmission path of the traditional electro-hydrostatic actuator (EHA). However, new nonlinear factors in the linear actuator and direct-driven pis...
This work details research on the formation mechanism of wheel polygonalization in high-speed trains and its effect factors by numerical modeling in order to prevent the increasingly prevalent problem of wheel polygonal wear. The lateral self-excited...
This paper presents a novel impact rotary motor based on a piezoelectric tube actuator with helical interdigitated electrodes which has a compact structure and high resolution. The assembled prototype motor has a maximum diameter of 15 mm and a lengt...
Slipping detection and avoidance are key issues in dexterous robotic manipulation. The capability of robots to grasp and manipulate objects of common use can be greatly enhanced by endowing these robots with force/tactile sensors on their fingertips....
In order to improve mathematical model accuracy of electromechanical actuator (EMA) and solve the problems of low-frequency response and large overshoot for nonlinear systems by using traditional proportional integral derivative (PID) algorithm, a fu...
The electromagnetic linear actuator is used as the core drive unit to achieve high precision and high response in the direct-drive actuation system. In order to improve the response performance and control accuracy of the linear drive unit, an improv...
Magnetorheological elastomer (MRE) is a type of magnetic soft material consisting of ferromagnetic particles embedded in a polymeric matrix. MRE-based devices have characteristics of adjustable stiffness and damping properties, and highly nonlinear a...
Considering the requirements pertaining to the trafficability of off-road vehicles on rough roads, and since their roll stability deteriorates rapidly when turning violently or passing slant roads due to a high center of gravity (CG), an efficient an...
The surgical robots currently used in cardiac surgery are equipped with a remote center of motion (RCM) mechanism that enables the required spherical workspace. The dynamics model of the surgical robot’s RCM mechanism presented in this work inc...