In practical applications, most systems operate based on digital signals obtained through sampling. Applying fractional-order control to spacecraft attitude control is meaningful for achieving better performance, especially in the coordination of the...
In this paper, the problem of preview optimal control for second-order nonlinear systems for marine vessels is discussed on a fully actuated dynamic model. First, starting from a kinematic and dynamic model of a three-degrees-of-freedom (DOF) marine...
The adaptive fuzzy fault-tolerant formation control of nonlinear high-order fully actuated multi-agent systems is studied in this paper, which contains time-varying delays and nonlinear non-affine faults. In contrast to the state-space approach, the...
Dual marine lifting systems are complicated, fully actuated mechatronics systems with multi-input and multi-output capabilities. The anti-swing cooperative lifting control of dual marine lifting systems with dual ships’ sway, heave, and roll mo...
Conventional guidance laws often exhibit difficulty in approaching highly maneuverable targets and suffer from poor robustness. To address these limitations, this paper proposes a spatio-temporally consistent cooperative guidance method based on the...
With the problem of environmental pollution and energy shortage becoming more and more serious, the fuel efficiency of automobile engines has attracted much attention, and variable valve technology is one of the important technologies to solve this p...
In this paper, the obstacle avoidance problem-based leader–following formation tracking of nonholonomic wheeled mobile robots with unknown parameters of desired trajectory is investigated. First, the under-actuated system is transformed into a...
The number of actuators of an underactuated robot is less than its degree of freedom. In other words, underactuated robots can be designed with fewer actuators than fully actuated ones. Although an underactuated robot is more complex than a fully act...
Beam pointing control based on Risley prisms is of great significance in wide-angle, high-precision application scenarios, such as laser communication, but its inherent nonlinear system characteristics seriously restrict the performance of beam point...
Traditional multirotor UAVs (unmanned aerial vehicles) are inherently underactuated, with coupled position and attitude control, which limits their maneuverability in specific applications. This paper presents a fully actuated quadrotor design based...
In this work, we propose two cooperative passivity-based control methods for networks of mechanical systems. By cooperatively synchronizing the end-effector coordinates of the individual agents, we achieve cooperation between systems of different typ...
In this work, epoxy-based shape-memory actuators have been developed by taking advantage of the sequential dual-curing of off-stoichiometric “thiol–epoxy” systems. Bent-shaped designs for flexural actuation were obtained thanks to the easy processing...
We consider the problem of attitude stabilization for a low Earth orbit satellite having only electromagnetic actuation. Such a satellite is not fully actuated, as the control torque is the cross-product of magnetic moment due to magnetorquers and th...
We developed an electro-mechanical actuator for use as a steering device for railway vehicles. The specifications for a 50 kN-class electro-mechanical actuator capable of steering control for a sharp of a railway radius curve of up to 250 m, and with...
Vibrotactile feedback is a very desirable feature for many touchscreen applications, creating a more engaging and effective user experience. Although it is common in small electronic devices, this feedback is often absent in large touchscreen devices...
Powered ankle exoskeletons (PAEs) are robotic devices developed for gait assistance, rehabilitation, and augmentation. To fulfil their purposes, PAEs vastly rely heavily on their sensor systems. Human–machine interface sensors collect the biome...
Dynamic characteristics and control of thin McKibben muscle (TMM) have not yet been fully investigated, especially on the translational antagonistic pair system. Therefore, the objective of this study is to propose a Switching Model Predictive Contro...
Electrothermal actuators, with their simple structure, small size, strong anti-interference ability, and easy integration, have emerged as a promising solution for micro-drive technology. However, deploying them in extreme environments, such as the f...
Electromagnetic fully variable valve train (EMVT) technology promises to improve the fuel economy and optimize the engine performance. A novel EMVT equipped with a magnetorheological buffer (EMVT with MR buffer) is proposed to suppress the valve seat...
This study presents a quasi-static optimization framework for the pressure-based control of a multi-segment soft continuum manipulator. The proposed method circumvents traditional curvature and length-based modeling by directly identifying the quasi-...
The compact, simple, and fast-reaction pneumatic microactuator is significant for the integration and high efficiency of pneumatic systems. In this work, the structure, working principle, and multiphysical model of an on-chip pneumatic microactuator...
Unmanned aerial vehicles (UAVs) nowadays represent an interesting tool capable of performing various missions. The multirotor type of UAV is proven to be a potential solution in missions that require precise movements, such as environmental objects m...
With the ongoing research on soft robots, the performance of soft actuators needs to be enhanced for more wide robotic applications. Currently, most soft robots based on pneumatic actuation are capable of assisting small systems, but they are not ful...
Traffic intersections throughout the United States combine fixed, semi-actuated, and fully actuated intersections. In the case of the semi-actuated and actuated intersections, uncertainties are considered in phase duration. These uncertainties are du...
This work introduces two cooperative dielectric elastomer actuator (DEA) array designs, enabling comparison between a fully soft, wearable-oriented system and a rigid, high-performance platform. The soft silicone-based array achieves strokes up to 1....
Electromagnetic actuation can support many fields of technology, such as robotics or biomedical applications. In this context, fully understanding the system behavior and proposing a low-cost package for feedback control is challenging. Modeling the...
Smart and soft electroactive polymer actuators as building blocks for soft robotics have many beneficial properties that could make them useful in future biomimetic and biomedical applications. Gelatin—a material exploited for medical applicati...
3-XXRRU parallel manipulators (PMs) constitute a family of six-degrees-of-freedom (DOF) PMs with three limbs of type XXRRU, where R and U stand for revolute pair and universal joint, respectively, and XX indicates any actuated two-DOF mechanism that...
Hydraulic lower limb exoskeletons are wearable robotic systems, which can help people carry heavy loads. Recently, underactuated exoskeletons with some passive joints have been developed in large numbers for the purpose of decreasing the weight and e...
The place of driving assistance systems is currently increasing drastically for road vehicles. Paving the road to the fully autonomous vehicle, the drive-by-wire technology could improve the potential of the vehicle control. The implementation of the...
The electro-hydraulic brake (EHB) system of a vehicle should operate normally under all circumstances to ensure automotive safety. This redundant system guarantees the minimum required performance in the event of a critical failure of the brake syste...
We have fabricated a fully-flexible, focus-tunable microlens array on a sheet and demonstrated its imaging capabilities. Each liquid lens of the array is individually tunable via electrowetting on dielectric (EWOD) actuation and is situated on a poly...
A good suspension system is mandatory for ensuring stability, comfort and safety in land vehicles; therefore, advanced semi and fully active suspension systems have been developed along with their associated management strategies to overcome the limi...
In this paper, we investigate the design and performance of static feedback controllers with partial-state information for the seismic protection of tall buildings equipped with incomplete multi-actuation systems. The proposed approach considers a pa...
This article proposes a mobile robot that is fully constructed and actuated by utilising a pneumatic artificial muscle (PAM). Several features are shown in this design including softness, lightweight, and shape change. The robot that has been designe...
Upper limb deficiencies can limit the range of tasks children can perform. Current prosthetics provide overall good performance to increase the activities that users can complete, but challenges remain. Body- or electrically powered prostheses strugg...
This paper addresses the challenging problem of bipartite consensus tracking of multi-agent systems that are subject to compound uncertainties and actuator faults. Specifically, the study considers a leader agent with fractional-order nonlinear dynam...
Nowadays, the haptic effect is used and developed for many applications—particularly in the automotive industry, where the mechanical feedback induced by a haptic system enables the user to receive information while their attention is kept on the roa...
Flying water-jet propulsion devices, such as jet boards, jet packs, and jet bikes, can execute complex flight maneuvers. However, they require the direct involvement of trained operators to control, and their applications are very limited. In this st...
This paper presents the design, modeling and control of a fully actuated aerial robot for infrastructure contact inspection as well as its localization system. Health assessment of transport infrastructure involves measurements with sensors in contac...
In this article, the design of a five-fingered anthropomorphic gripper is presented specifically designed for the manipulation of elastic objects. The manipulator features a hybrid design, being equipped with three fully actuated fingers for precise...
This paper presents a feasibility study using a commercially available ring stack actuator to develop a four way-two position (4/2) high frequency switching digital hydraulic valve. The excellent characteristics of multilayer piezoelectric actuators,...
A specific challenge in robotic control applications is the identification and regulation of actuators that provide mechanical traction and motion to the robot links. The design of actuator control laws, grounded in parametric identification and expe...
This paper deals with all required parts to set up the full variable valve train (FVVT) system to be used in intake and exhaust valves of combustion engines from the electrical/electronic point of view. This includes the displacement and pressure sen...
Photonic packaging, which includes high-precision assembly of photonic sub-systems, is currently a bottleneck in the development of commercially-available integrated photonic products. In the pursuit of a fully-automated, high-precision, and cost-eff...
A self-sufficient wireless electronic sensor node for the acquisition of guided ultrasonic waves (GUW) is introduced. The system presents a step toward a structural health monitoring (SHM) system fully integrated into fiber metal laminates. It remove...
The work deals with the simulation and optimization of a tracking mechanism used to increase the efficiency of photovoltaic (PV) systems. The proposed solar tracker is one with two degrees of freedom (so called dual-axis, or bi-axial), of the equator...
Power transmission and protection of power electronics–electromagnetic actuators are crucial parts in renewable energy systems (energy management of photovoltaic, wind power, hybrid and electric vehicles). Consistency optimization of electromag...
Aiming at the problems of seedling injury and planting leakage due to the lack of seeding clamping force detection and real-time control in vegetable transplanting, a force feedback gripper was developed based on the linear Hall element. The mechanic...
Piezoelectric bimorphs have been used as a micro-gripper in many applications, but the system might be complex and the response performance might not have been fully characterized. In this study the dynamic characteristics of bending piezoelectric bi...
of 5