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Machines
Special Issues
Reliable Control of Mechatronic Systems
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Reliable Control of Mechatronic Systems

A special issue of Machines (ISSN 2075-1702). This special issue belongs to the section "Automation and Control Systems".

Deadline for manuscript submissions: closed (31 October 2023) | Viewed by 2860

Special Issue Editors

Dr. Anthony Mandow

E-Mail Website
Guest Editor
Andalucía Tech, Universidad de Málaga, 29071 Málaga, Spain
Interests: disaster robotics; UGV motion control; validation of robotic mission planning; intelligent control
Dr. Raffaele Iervolino

E-Mail Website
Guest Editor
Department of Electrical Engineering and Information Technology, University of Naples Federico II, Via Claudio 21, 80125 Napoli, Italy
Interests: switched systems; finite-time stability and stabilization; fault diagnosis and isolation; reinforcement learning; wearables
Prof. Dr. Dariusz Horla

E-Mail Website
Guest Editor
Faculty of Electrical Engineering, Institute of Control and Information Engineering, Poznan University of Technology, Poznan, Poland
Interests: UAVs; optimization; robust control; adaptive control; optimal control; control theory; modelling and identification
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

The reliability of control laws/controllers is of crucial importance, given the increasing level of complexity observed in modern control systems. This reliability can force closed-loop systems to work with optimal performance when in normal conditions, and can also exert effective control actions when various faults or modelling errors occur.

The prime role of a reliable controller is to be able to tolerate system faults which inevitably take place during the normal lifetime of every control system. These can also arise from the uncertainty present in every modeling task. Some solutions to such problems may include banks of models, using feedback and feedback linearization schemes to ensure wider areas of stability for the uncertainty taken into account, or the detection of faults to set a proper control policy.

Therefore, more efficient and effective theoretical and experimental methodologies for improving the reliability of mechatronic systems are expected to be developed to provide solutions for the problems listed above, which are inherently connected to every control problem of a mechatronic system. However, to design a high-performance control system that operates in a harsh environment, it could be insufficient to carefully apply standard control engineering methods to get high levels of reliability. New control schemes with incorporated reliability enhancement properties need to be investigated as well.

This Special Issue will be devoted to state-of-the-art research on the reliability of control systems, on control techniques, modeling techniques, etc. We seek submissions with an original perspective and advanced thinking on the theme addressed. Research on theories, simulations, experiments, and engineering applications are welcomed.

Dr. Anthony Mandow
Dr. Raffaele Iervolino
Dr. Dariusz Horla
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. Machines is an international peer-reviewed open access monthly 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 2400 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

  • reliable control
  • robust control
  • fault-tolerant systems
  • actuator failure
  • sensor failure
  • mechatronics
  • stability margins
  • robust performance
  • robust stability
  • system modeling

Published Papers (2 papers)

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Research

29 pages, 3510 KiB  
Article
Tackling Modeling and Kinematic Inconsistencies by Fixed Point Iteration-Based Adaptive Control
by Awudu Atinga and József K. Tar
Machines 2023, 11(6), 585; https://doi.org/10.3390/machines11060585 - 24 May 2023
Viewed by 847
Abstract
The Fixed Point Iteration-based Adaptive Control design methodology is an alternative to the Lyapunov function-based technology. It contains higher-order feedback terms than the standard resolved acceleration rate control. This design approach strictly separates the kinematic and dynamic issues. At first, a purely kinematic [...] Read more.
The Fixed Point Iteration-based Adaptive Control design methodology is an alternative to the Lyapunov function-based technology. It contains higher-order feedback terms than the standard resolved acceleration rate control. This design approach strictly separates the kinematic and dynamic issues. At first, a purely kinematic prescription is formulated for driving the components of the tracking error to zero. Then an available approximate dynamic model is used to calculate the approximated necessary control forces. Before exerting on the controlled system, these forces are adaptively deformed in order to precisely obtain the prescribed kinematic behavior. The necessary deformation is iteratively found by the use of a contractive map that results in a sequence that converges to the unique fixed point of this map. In the case of underactuated systems, when the relative order of the control task also increases, the highest-order time-derivative depends on the lower-order ones according to the dynamic model of the system. This makes it impossible to realize the arbitrarily constructed kinematic design. In the paper, a resolution to this discrepancy is proposed. The method is demonstrated using two non-linear paradigms, a three-degree-of-freedom robot arm, and a two-degree-of-freedom system, i.e., two coupled non-linear springs. The operation of the method was investigated via simulations made by the use of Julia language and simple sequential programs. It was found that the suggested solution could be considered as a new variant of the fixed point iteration-based model reference adaptive control that is applicable for underactuated systems even if the relative order of the task is increased. Full article
(This article belongs to the Special Issue Reliable Control of Mechatronic Systems)
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19 pages, 11132 KiB  
Article
Balancing-Prioritized Anti-Slip Control of a Two-Wheeled Inverted Pendulum Robot Vehicle on Low-Frictional Surfaces with an Acceleration Slip Indicator
by Yongkuk Kim and Sangjoo Kwon
Machines 2023, 11(5), 553; https://doi.org/10.3390/machines11050553 - 14 May 2023
Viewed by 1466
Abstract
When a two-wheeled inverted pendulum (TWIP) robot vehicle travels on slippery roads, the occurrence of wheel slip extremely threatens its postural stability owing to the loss of wheel traction. If a severe wheel slip happens between the driving wheels and contact surfaces, no [...] Read more.
When a two-wheeled inverted pendulum (TWIP) robot vehicle travels on slippery roads, the occurrence of wheel slip extremely threatens its postural stability owing to the loss of wheel traction. If a severe wheel slip happens between the driving wheels and contact surfaces, no control techniques can guarantee the driving performance and stability of the TWIP robots in the absence of an extra wheel slip control strategy. In this paper, a TWIP-compatible countermeasure against the wheel slip phenomena is investigated for enhancing the reliability of the vehicle and the robustness of the motion control performance on low-frictional surfaces. To this end, we propose a balancing-prioritized anti-slip control method based on the maximum transmissible torque estimation, which is activated only when a wheel slip is detected by the acceleration slip indicator utilizing accessible data from the IMU and wheel encoders. It is proved that the TWIP vehicles applying the proposed method can successfully cope with low frictional surfaces while maintaining postural stability. Finally, comparative simulations and experiments demonstrate the effectiveness and feasibility of the proposed scheme. Full article
(This article belongs to the Special Issue Reliable Control of Mechatronic Systems)
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