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Actuators
Volume 14
Issue 3
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Actuators, Volume 14, Issue 3 (March 2025) – 56 articles

Cover Story (view full-size image): Accurate design and model validation tools are developed for shrouded rotors. An experimental test rig was designed to measure the rotor thrust and total thrust separately, as well as the rotor torque. A key aspect was to quantify the impact of a test rig on experimental results using CFD for shrouded rotor configuration. The analytical model employs a hybrid approach combining blade element momentum theory (BEMT) and the sphere-cap model which are used in conjunction with the shrouded rotor inflow ratio, as well as post-stall and tip gap clearance models. The results demonstrate that the analytical model predicts shrouded rotor performance accurately. View this paper
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17 pages, 2078 KiB  
Article
Adaptive Output Regulation for PMSM Speed Servo System via Time-Varying Internal Model Approach
by Hui Song, Zhaowu Ping, Jiaze Hui, Yunzhi Huang and Jun-Guo Lu
Actuators 2025, 14(3), 158; https://doi.org/10.3390/act14030158 (registering DOI) - 20 Mar 2025
Viewed by 71
Abstract
This article investigates the adaptive output regulation problem of a permanent magnet synchronous motor (PMSM) speed servo system with unknown time-varying exosystems and aims to achieve multiple objectives including speed tracking, disturbance rejection, and robustness simultaneously. Existing linear or nonlinear internal model designs [...] Read more.
This article investigates the adaptive output regulation problem of a permanent magnet synchronous motor (PMSM) speed servo system with unknown time-varying exosystems and aims to achieve multiple objectives including speed tracking, disturbance rejection, and robustness simultaneously. Existing linear or nonlinear internal model designs are not applicable to the output regulation problem under the time-varying situation. Hence, we first construct a time-varying internal model to transform this control problem into a robust stabilization problem for a time-varying augmented system, and then design a stabilization controller integrating robust control and adaptive control techniques to stabilize this system. Finally, the validity of the proposed approach is verified through simulations and experiments. It is worth mentioning that our approach can achieve high-precision speed tracking of PMSM under parameter uncertainties and load torque disturbance with unknown time-varying frequencies. Full article
(This article belongs to the Special Issue From Theory to Practice: Incremental Nonlinear Control)
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14 pages, 1326 KiB  
Article
Prescribed-Time-Based Anti-Disturbance Tracking Control of Manipulators Under Multiple Constraints
by Zirui Wang, Haoran Zheng and Guangming Zhang
Actuators 2025, 14(3), 157; https://doi.org/10.3390/act14030157 - 20 Mar 2025
Viewed by 80
Abstract
Manipulators have a wide range of applications in industrial automation. However, their nonlinear characteristics, time-varying properties, and external disturbances present significant challenges in accurately tracking their trajectories. This paper proposes an integrated control strategy based on prescribed-time convergence control, output constraint control, prescribed [...] Read more.
Manipulators have a wide range of applications in industrial automation. However, their nonlinear characteristics, time-varying properties, and external disturbances present significant challenges in accurately tracking their trajectories. This paper proposes an integrated control strategy based on prescribed-time convergence control, output constraint control, prescribed performance control (PPC), and an extended state observer (ESO)-based anti-disturbance control method. The prescribed-time convergence control guarantees that the system will reach a steady state at a specified time, while the output constraint control ensures that the Vm will move within a predefined physical range. The PPC meets the rigorous requirements of error convergence during trajectory tracking by regulating the error dynamics, while the ESO is employed to estimate unknown disturbances and enhance the system’s resilience to interference. The simulation outcomes demonstrate that the proposed control methodology exhibits notable advantages in terms of a rapid response, precision tracking, and anti-disturbance capabilities. Full article
(This article belongs to the Section Actuators for Robotics)
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18 pages, 3705 KiB  
Article
A Simple Control Strategy for Planar 2R Underactuated Robot via DEA Optimization
by Zixin Huang, Xiangyu Gong, Xiao Wan and Hongjian Zhou
Actuators 2025, 14(3), 156; https://doi.org/10.3390/act14030156 - 20 Mar 2025
Viewed by 88
Abstract
In various fields, planar 2R underactuated robots have garnered significant attention due to their numerous applications. To guarantee the stable control of these robots, a simple control strategy is presented in this paper, and we utilize the intelligent optimization algorithm to enhance the [...] Read more.
In various fields, planar 2R underactuated robots have garnered significant attention due to their numerous applications. To guarantee the stable control of these robots, a simple control strategy is presented in this paper, and we utilize the intelligent optimization algorithm to enhance the controller parameters. Initially, a comprehensive dynamic model is developed for the robot with its control properties described. Subsequently, we design a PD controller to control the movement of the planar 2R underactuated robot. The differential evolution algorithm (DEA) is used to optimize the parameters of the PD controller to obtain the best control effect and make each link reach the target state. The findings from the simulation demonstrate the efficacy of the approach, and the designed strategy shows a higher stability and convergence rate, highlighting its important contribution to the field of underactuated robots. Full article
(This article belongs to the Special Issue Modeling and Nonlinear Control for Complex MIMO Mechatronic Systems)
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25 pages, 15259 KiB  
Article
Backstepping Command Filter Control for Electromechanical Servo Systems with Unknown Dynamics Based on Reinforcement Learning
by Chenchen Xu, Jian Hu, Jiong Wang, Wenxiang Deng, Jianyong Yao and Xiaoli Zhao
Actuators 2025, 14(3), 155; https://doi.org/10.3390/act14030155 - 19 Mar 2025
Viewed by 105
Abstract
To address the challenges of acquiring precise dynamic models for electromechanical servo systems and the susceptibility of system state information to noise, a backstepping command filter controller based on reinforcement learning is proposed. This method can achieve high-precision and low-energy control in electromechanical [...] Read more.
To address the challenges of acquiring precise dynamic models for electromechanical servo systems and the susceptibility of system state information to noise, a backstepping command filter controller based on reinforcement learning is proposed. This method can achieve high-precision and low-energy control in electromechanical servo systems subject to noise interference and unmodeled disturbances. The proposed method employs a command filter to obtain differential estimations of known signals and process noise. Reinforcement learning is employed to estimate unknown system disturbances, including unmodeled friction and external interference. The weights of the networks are updated using an online gradient descent algorithm, eliminating the need for an offline learning phase. In addition, the Lyapunov function analysis method is used to demonstrate the stability of the closed-loop system. To validate the effectiveness of the proposed method, comparative experiments were conducted using an electromechanical servo experimental platform. The experimental results indicate that, compared to other mainstream controllers, the control algorithm excels in tracking accuracy, response speed, and energy efficiency, and demonstrates significant robustness against system uncertainties and external disturbances. Full article
(This article belongs to the Special Issue Motion Planning, Trajectory Prediction, and Control for Robotics)
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19 pages, 3544 KiB  
Article
An Adaptive Path Tracking Controller with Dynamic Look-Ahead Distance Optimization for Crawler Orchard Sprayers
by Xu Wang, Bo Zhang, Xintong Du, Xinkang Hu, Chundu Wu and Jianrong Cai
Actuators 2025, 14(3), 154; https://doi.org/10.3390/act14030154 - 19 Mar 2025
Viewed by 187
Abstract
Based on the characteristics of small agricultural machinery in terms of flexibility and high efficiency when operating in small plots of hilly and mountainous areas, as well as the demand for improving the automation and intelligence levels of agricultural machinery, this paper conducted [...] Read more.
Based on the characteristics of small agricultural machinery in terms of flexibility and high efficiency when operating in small plots of hilly and mountainous areas, as well as the demand for improving the automation and intelligence levels of agricultural machinery, this paper conducted research on the path tracking control of the automatic navigation operation of a crawler sprayer. Based on the principles of the kinematic model and the position prediction model of the agricultural machinery chassis, a pure pursuit controller based on adaptive look-ahead distance was designed for the tracked motion chassis. Using a lightweight crawler sprayer as the research platform, integrating onboard industrial control computers, sensors, communication modules, and other hardware, an automatic navigation operation system was constructed, achieving precise control of the crawler sprayer during the path tracking process. Simulation test results show that the path tracking control method based on adaptive look-ahead distance has the characteristics of smooth control and small steady-state error. Field tests indicate that the crawler sprayer exhibits small deviations during path tracking, with an average absolute error of 2.15 cm and a maximum deviation of 4.08 cm when operating at a speed of 0.7 m/s. In the line-following test, with initial position deviations of 0.5 m, 1.0 m, and 1.5 m, the line-following times were 7.45 s, 11.91 s, and 13.66 s, respectively, and the line-following distances were 5.21 m, 8.34 m, and 9.56 m, respectively. The maximum overshoot values were 6.4%, 10.5%, and 12.6%, respectively. The autonomous navigation experiments showed a maximum deviation of 5.78 cm and a mean absolute error of 2.69 cm. The proportion of path deviations within ±5 cm and ±10 cm was 97.32% and 100%, respectively, confirming the feasibility of the proposed path tracking control method. This significantly enhanced the path tracking performance of the crawler sprayer while meeting the requirements for autonomous plant protection spraying operations. Full article
(This article belongs to the Special Issue Modeling and Nonlinear Control for Complex MIMO Mechatronic Systems)
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15 pages, 3137 KiB  
Article
Mechanical Design of McKibben Muscles Predicting Developed Force by Artificial Neural Networks
by Michele Gabrio Antonelli, Pierluigi Beomonte Zobel, Muhammad Aziz Sarwar and Nicola Stampone
Actuators 2025, 14(3), 153; https://doi.org/10.3390/act14030153 - 18 Mar 2025
Viewed by 126
Abstract
McKibben’s muscle (MKM) is the most adopted among the different types of pneumatic artificial muscles (PAMs) due to its mechanical performance and versatility. Several geometric parameters, including the diameter, thickness, and length of the inner elastic element, as well as functional conditions, such [...] Read more.
McKibben’s muscle (MKM) is the most adopted among the different types of pneumatic artificial muscles (PAMs) due to its mechanical performance and versatility. Several geometric parameters, including the diameter, thickness, and length of the inner elastic element, as well as functional conditions, such as shortening ratio and feeding pressure, influence the behaviour of this actuator. Over the years, analytical and numerical models have been defined to predict its deformation and developed forces. However, these models are often identified under simplifications and have limitations when integrating new parameters that were not initially considered. This work proposes a hybrid approach between finite element analyses (FEAs) and machine learning (ML) algorithms to overcome these issues. An MKM was numerically simulated as the chosen parameters changed, realizing the MKM dataset. The latter was used to train 27 artificial neural networks (ANNs) to identify the best algorithm for predicting the developed forces. The best ANN was tested on three numerical models and a prototype with a combination of parameters not included in the dataset, comparing predicted and numerical responses. The results demonstrate the effectiveness of ML techniques in predicting the behavior of MKMs while offering flexibility for integrating additional parameters. Therefore, this paper highlights the potential of ML approaches in the mechanical design of MKM according to the field of use and application. Full article
(This article belongs to the Special Issue Industrial and Biomechanical Applications of Actuators and Robots and Eco-Sustainability)
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28 pages, 13627 KiB  
Article
The Fault Diagnosis of Rolling Bearings Based on FFT-SE-TCN-SVM
by Yanqiu Wu, Juying Dai, Xiaoqiang Yang, Faming Shao, Jiancheng Gong, Peng Zhang and Shaodong Liu
Actuators 2025, 14(3), 152; https://doi.org/10.3390/act14030152 - 18 Mar 2025
Viewed by 110
Abstract
Traditional fault diagnosis methods often require extracting features from raw vibration signals based on prior knowledge, which are then input into intelligent classifiers for pattern recognition. This process is prone to information loss and can be inaccurate when relying on human experience for [...] Read more.
Traditional fault diagnosis methods often require extracting features from raw vibration signals based on prior knowledge, which are then input into intelligent classifiers for pattern recognition. This process is prone to information loss and can be inaccurate when relying on human experience for fault identification. To address this issue, this paper proposes an intelligent fault classification and diagnosis model for rolling bearings based on Fast Fourier Transform (FFT) combined with a time convolutional network (SE-TCN) incorporating an attention mechanism, with a Support Vector Machine (SVM) used as the classifier. First, the FFT is applied to transform the collected raw time-domain data of bearing faults into the frequency domain, obtaining the sequence information in the frequency domain. Second, the frequency–domain sequence data are fed into the SE-TCN model, which uses multiple convolutional layers and a channel attention mechanism to extract deep fault features. Finally, the extracted feature vectors are input into the SVM classifier, and the Particle Swarm Optimization (PSO) algorithm is used to optimize the SVM parameters. The optimal separating hyperplane is obtained through training to classify the fault types of the rolling bearings. To verify the effectiveness and diagnostic performance of the proposed method, experiments are conducted using bearing fault datasets from Case Western Reserve University (CWRU) and a laboratory self-built fault diagnosis experimental platform. The experimental results show that the classification accuracy of the proposed method exceeds 99% on the CWRU test dataset, and it also demonstrates advantages in handling small sample data, with an accuracy of over 90%. Additionally, it exhibits good diagnostic performance on the bearing fault data collected from the laboratory self-built platform. The results validate the effectiveness of the proposed classification model in bearing a fault diagnosis. Full article
(This article belongs to the Section Control Systems)
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20 pages, 2524 KiB  
Article
Adaptive Nonlinear Friction Compensation for Pneumatically Driven Follower in Force-Projecting Bilateral Control
by Daisuke Haraguchi and Yuki Monden
Actuators 2025, 14(3), 151; https://doi.org/10.3390/act14030151 - 18 Mar 2025
Viewed by 82
Abstract
Force-projecting bilateral control is an effective method for enhancing the positioning rigidity and stability of teleoperation systems equipped with compliant pneumatically driven followers. However, friction in the pneumatic actuation mechanism has caused a deterioration in force reproducibility between the leader and follower. To [...] Read more.
Force-projecting bilateral control is an effective method for enhancing the positioning rigidity and stability of teleoperation systems equipped with compliant pneumatically driven followers. However, friction in the pneumatic actuation mechanism has caused a deterioration in force reproducibility between the leader and follower. To solve this problem, this study proposes a practical method of nonlinear friction compensation in force-projecting bilateral control to improve the force reproducibility. The proposed method generates two friction compensation forces: one based on the target admittance velocity from the leader and the other based on the actual velocity of the follower. These forces are seamlessly switched according to the dynamic state of the system to compensate for the follower’s driving force. This enables improved force reproducibility in any motion states of the system while maintaining the advantage of force-projecting bilateral control, which eliminates the need for external force measurement on the follower side. Experiments were conducted using a 1-DOF bilateral control device consisting of an electric linear motor and a pneumatic cylinder, including free motion and contact operations with two types of environments, demonstrating the effectiveness of the proposed method. Full article
(This article belongs to the Special Issue Intelligent Control for Pneumatic Servo System)
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19 pages, 8466 KiB  
Article
Comparative Study on Active Suspension Controllers with Parameter Adaptive and Static Output Feedback Control
by Seongjin Yim
Actuators 2025, 14(3), 150; https://doi.org/10.3390/act14030150 - 18 Mar 2025
Viewed by 145
Abstract
This paper presents a comparative study on active suspension controllers for ride comfort. Two types of active suspension controllers are designed and compared in terms of ride comfort: static output feedback (SOF) and parameter adaptive ones, which have identical controller structure. A quarter-car [...] Read more.
This paper presents a comparative study on active suspension controllers for ride comfort. Two types of active suspension controllers are designed and compared in terms of ride comfort: static output feedback (SOF) and parameter adaptive ones, which have identical controller structure. A quarter-car model is selected as a vehicle model. To date, LQR has been used as an active suspension controller. LQR is hard to implement in real vehicles due to the full-state measurement requirement. To avoid the full-state measurement of LQR, SOF control is selected as a controller structure in this paper. Suspension stroke and its rate are selected as sensor outputs for SOF and parameter active controllers. Two types of SOF controllers are designed. The first is the LQ SOF controller, designed with the state-space model and LQ cost function. The second is SOF controllers, designed by simulation-based optimization (SBOM) for the quarter-car model with nonlinear spring and damper. A parameter adaptive controller is designed with the recursive lease square (RLS) algorithm and its equivalent extended Kalman filter (EKF). For comparison, LQR is designed and used as a baseline. From simulation results, it is shown that the static output feedback and parameter adaptive controllers are equivalent to each other in terms of controller structure and ride comfort and which conditions are needed for better control performance on those controllers. Full article
(This article belongs to the Special Issue Data-Driven Control for Vehicle Dynamics)
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19 pages, 7587 KiB  
Article
Three-Vector-Based Smart Model Predictive Torque Control of Surface-Mounted Permanent Magnet Synchronous Motor Drives for Robotic System Based on Genetic Algorithm
by Shenghui Li, Li Ma, Jingrui Hou, Yiqing Ma and Rongbo Lai
Actuators 2025, 14(3), 149; https://doi.org/10.3390/act14030149 - 17 Mar 2025
Viewed by 123
Abstract
Owing to their high performance and high-efficiency controllability, surface-mounted permanent magnet synchronous motors (SPMSMs) have been widely considered for various robotic systems. The conventional three-vector-based model predictive torque control (MPTC) is frequently applied to SPMSMs, while the adjustment of weight factors is difficult. [...] Read more.
Owing to their high performance and high-efficiency controllability, surface-mounted permanent magnet synchronous motors (SPMSMs) have been widely considered for various robotic systems. The conventional three-vector-based model predictive torque control (MPTC) is frequently applied to SPMSMs, while the adjustment of weight factors is difficult. Compared with the five-segment sequence output method, the three-segment sequence output method can effectively reduce the switching frequency. However, the three-segment sequence output method leads to large torque and stator flux ripple. For these issues, a three-vector-based smart MPTC method based on the optimal vector sequence optimized by a genetic algorithm is proposed. Firstly, the reference voltage vector output from the discrete-time sliding mode (DTSM) current controller is utilized to simplify the process of selecting the vectors, and it can enhance the robustness of the SPMSM system. Secondly, an improved cost function is employed to select the optimal vector sequence, aiming to minimize torque and flux ripple. Furthermore, the multi-objective genetic algorithm is leveraged to seek the Pareto solution for weight factors. As a final step, the efficacy of the designed MPTC approach is confirmed through simulations and experiments. Full article
(This article belongs to the Special Issue Advanced Learning and Intelligent Control Algorithms for Robots)
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18 pages, 6774 KiB  
Article
Command-Filtered Yaw Stability Control of Vehicles with State Constraints
by Lizhe Wu, Zhenhua Liu and Dingxuan Zhao
Actuators 2025, 14(3), 148; https://doi.org/10.3390/act14030148 - 17 Mar 2025
Viewed by 100
Abstract
Yaw stability control is crucial for ensuring the driving safety of intelligent vehicles. This paper proposes a state-constrained command-filtered control (CFC) approach for vehicle yaw stability. The proposed method employs a barrier Lyapunov function (BLF) to effectively constrain the vehicle’s sideslip angle and [...] Read more.
Yaw stability control is crucial for ensuring the driving safety of intelligent vehicles. This paper proposes a state-constrained command-filtered control (CFC) approach for vehicle yaw stability. The proposed method employs a barrier Lyapunov function (BLF) to effectively constrain the vehicle’s sideslip angle and yaw rate, thereby enhancing system stability and safety. Meanwhile, a command-filtered control strategy is introduced to reduce computational complexity, and an error compensation mechanism is incorporated to mitigate the adverse effects of filter-induced errors on system performance. To validate the effectiveness and robustness of the proposed method, simulations are conducted under different road adhesion conditions and driving speeds. The results demonstrate that the proposed control approach effectively suppresses both understeer and oversteer phenomena, significantly improving vehicle handling stability. This study provides theoretical support and practical insights for the engineering application of yaw stability control in intelligent vehicles. Full article
(This article belongs to the Special Issue Modeling and Nonlinear Control for Complex MIMO Mechatronic Systems)
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12 pages, 8387 KiB  
Article
Wave Energy Linear Generator System Including a Newly Designed Wave Roller Mechanical Interface
by Hongyue Chen, Naisheng Liu and Xianyang Liu
Actuators 2025, 14(3), 147; https://doi.org/10.3390/act14030147 - 17 Mar 2025
Viewed by 179
Abstract
As the demand for energy continues to grow and global climate change intensifies, prompting countries to reduce carbon emissions, wave energy generation has shown significant potential. This paper introduces a novel wave energy device incorporating a wave roller, based on the classical direct [...] Read more.
As the demand for energy continues to grow and global climate change intensifies, prompting countries to reduce carbon emissions, wave energy generation has shown significant potential. This paper introduces a novel wave energy device incorporating a wave roller, based on the classical direct float linear generator structure, with optimizations made to its key components. The novel generation device reduces the required mover stroke in the linear generator, thereby decreasing the overall size of the system and minimizing the uncertainty of the mover’s trajectory. Additionally, the device can accommodate multiple linear generators for combined operation, enhancing the utilization of wave energy captured by a single float. Finally, the practicality of the device is demonstrated through MATLABR2021b/Simulink simulation and experimental validation. Full article
(This article belongs to the Section High Torque/Power Density Actuators)
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19 pages, 5586 KiB  
Article
A Novel High-Precision Trajectory Generator with Complex Motion Simulation for Enhanced Inertial Navigation Algorithm Testing
by Chen Chen, Weiquan Huang, He Wang and Lu Tian
Actuators 2025, 14(3), 146; https://doi.org/10.3390/act14030146 - 15 Mar 2025
Viewed by 237
Abstract
With advancements in inertial navigation measurement units (IMUs), the focus of inertial navigation accuracy has shifted from hardware limitations to algorithm performance. To effectively test algorithms using high-precision IMUs, trajectory generators are essential; however, existing generators often lack diverse motion patterns, making them [...] Read more.
With advancements in inertial navigation measurement units (IMUs), the focus of inertial navigation accuracy has shifted from hardware limitations to algorithm performance. To effectively test algorithms using high-precision IMUs, trajectory generators are essential; however, existing generators often lack diverse motion patterns, making them inadequate for evaluating algorithms under complex and challenging conditions, particularly for unmanned aerial vehicle (UAV) applications. To address this, we designed a high-precision trajectory generator that enhances traditional models by incorporating coning motion, paddle motion, and coning motion with angular velocity precession to simulate high-dynamic environments. Additionally, a one-sample-plus-one-previous-per-update algorithm was developed to improve the accuracy of the IMU output inversion by generating precise gyroscope and accelerometer data for processing within inertial navigation systems. The results demonstrate that both the one-sample-plus-one-previous-per-update and three-sample algorithms significantly improve the navigation accuracy under high-dynamic motion compared to single-sample algorithms. This trajectory generator effectively validates the accuracy of inertial navigation algorithms in complex conditions, particularly for UAVs, and provides a solid foundation for testing higher-precision algorithms.The proposed methodology directly supports the development of advanced actuator control systems in UAVs by enabling rigorous validation of navigation algorithms under realistic high-dynamic scenarios, a critical requirement for next-generation autonomous platforms. Full article
(This article belongs to the Section Aerospace Actuators)
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26 pages, 9010 KiB  
Article
Numerical Simulation of the Performance of a Combustion-Driven SparkJet Actuator a with Laval Outlet Configuration
by Hai Chen, Hongyan Zuo and Guohai Jia
Actuators 2025, 14(3), 145; https://doi.org/10.3390/act14030145 - 14 Mar 2025
Viewed by 155
Abstract
To increase the jet momentum and improve the environmental adaptability, a combustion-driven SparkJet actuator with a Laval-configured outlet is proposed to improve the performance of the actuator. Numerical simulation results show that, compared to straight outlet combustion-driven actuators with outlet diameters of 2 [...] Read more.
To increase the jet momentum and improve the environmental adaptability, a combustion-driven SparkJet actuator with a Laval-configured outlet is proposed to improve the performance of the actuator. Numerical simulation results show that, compared to straight outlet combustion-driven actuators with outlet diameters of 2 mm and 2.8 mm, the maximum jet velocity of the Laval-configured actuator increases by approximately 100 m/s and 350 m/s, separately. while the peak times decrease by about 50% and 12%, respectively. The work frequency of the Laval-structured combustion-driven actuator is 1333 Hz, which is higher than the 1176 Hz of the straight-tube-structured combustion-driven actuator with an outlet diameter of 2 mm. The Laval configuration effectively improves the working performance of the actuator. As the equivalence ratio increases from 0.6 to 1, the actuator’s jet velocity increases by approximately 65 m/s and 311 m/s, respectively, and its maximum combustion temperature is raised from 2700 K to 3000 K. The saturation work frequency is nearly the same. The pressure and jet mass flow rate in the actuator drop as the atmospheric pressure declines, while the combustion-driven actuator still exhibits high working performance when the atmospheric pressure is low. The maximum outlet velocity, Mach number, pressure, and temperature increase by about 20%, 13%, 25%, and 6%, while the peak time increases by about 40% as the ignition position moves from the middle position to a 2.8 mm displacement toward the outlet. Full article
(This article belongs to the Section Control Systems)
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14 pages, 2216 KiB  
Article
L2-Regularization-Based Kinematic Parameter Identification for Industrial Robots in Limited Measurement Space
by Fei Liu, Guanbin Gao, Jing Na and Faxiang Zhang
Actuators 2025, 14(3), 144; https://doi.org/10.3390/act14030144 - 14 Mar 2025
Viewed by 147
Abstract
The accurate identification of kinematic parameters is crucial for improving the positioning accuracy of industrial robots, particularly in advanced manufacturing and automation. However, limited measurement space in practical applications often leads to concentrated data, causing overfitting and unreliable parameter estimation when using traditional [...] Read more.
The accurate identification of kinematic parameters is crucial for improving the positioning accuracy of industrial robots, particularly in advanced manufacturing and automation. However, limited measurement space in practical applications often leads to concentrated data, causing overfitting and unreliable parameter estimation when using traditional identification methods. To address these challenges, this study proposes an L2-regularization-based method to improve parameter identification accuracy by penalizing deviations from the nominal kinematic parameters. The regularization factor is determined using a k-fold cross-validation strategy, ensuring a balance between generalization and accuracy. The proposed method was validated on a six-axis industrial robot, with calibration performed in a constrained measurement space and verification conducted in an expanded workspace. Compared to traditional least-squares methods, which suffer from significant parameter deviations and overfitting, the proposed L2-regularized method effectively improves parameter estimation accuracy. Specifically, this method reduces the mean error from 3.461 mm to 0.399 mm, achieving an approximate 88% improvement compared to the error before calibration. These findings demonstrate the effectiveness of the proposed method in improving parameter identification and positioning accuracy under constrained measurement space. Full article
(This article belongs to the Special Issue Modeling and Nonlinear Control for Complex MIMO Mechatronic Systems)
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14 pages, 2984 KiB  
Article
Influence Analysis of Design Parameters of Elastic Valve Plate and Structural Types of Guide Flow Disc on the Performance of Relief Valve
by Junjie Chen, Peng Huang, Xinrong Xie, Changyu Guan and Hao Liu
Actuators 2025, 14(3), 143; https://doi.org/10.3390/act14030143 - 14 Mar 2025
Viewed by 210
Abstract
The elastic valve plate and guide flow disc are key components that influence parameters such as opening and pressure difference of pilot-relief valve, which are also the core components enabling continuous damping adjustment in valve-controlled continuously variable dampers. Based on deformation characteristics of [...] Read more.
The elastic valve plate and guide flow disc are key components that influence parameters such as opening and pressure difference of pilot-relief valve, which are also the core components enabling continuous damping adjustment in valve-controlled continuously variable dampers. Based on deformation characteristics of elastic valve plate and various structural types of guide flow disc, this paper reveals the impact of structural types of guide flow disc and design parameters of elastic valve plate on the performance of pilot-relief valve and obtains the relationship curves between opening pressure, pressure difference and opening of relief valve versus structural types and the angle, width and the number of arc plates of elastic valve plate. It shows that the pressure difference of the relief valve reaches maximum with min angle, max width, most arc plates and irregular-shaped type, and the opening reaches maximum with max angle, min width, fewest plates and round hole type. By adjusting structural types of guide flow disc and design parameters of elastic valve plate, the pressure difference and opening of the relief valve can be precisely controlled, providing theoretical support for the precise design of pilot-relief valve and the optimization of damping characteristics. Full article
(This article belongs to the Special Issue Integrated Intelligent Vehicle Dynamics and Control)
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24 pages, 2621 KiB  
Article
Nonlinear Robust Control for Missile Unsupported Random Launch Based on Dynamic Surface and Time Delay Estimation
by Xiaochuan Yu, Hui Sun, Haoyang Liu, Xianglong Liang, Xiaowei Yang and Jianyong Yao
Actuators 2025, 14(3), 142; https://doi.org/10.3390/act14030142 - 13 Mar 2025
Viewed by 118
Abstract
Due to the difficulty in ensuring launch safety under unfavorable launch site conditions, restrictions regarding the selection of launch sites significantly weaken the maneuverability of the unsupported random vertical launch (URVL) mode. In this paper, a nonlinear robust control strategy is proposed to [...] Read more.
Due to the difficulty in ensuring launch safety under unfavorable launch site conditions, restrictions regarding the selection of launch sites significantly weaken the maneuverability of the unsupported random vertical launch (URVL) mode. In this paper, a nonlinear robust control strategy is proposed to control the missile attitude by actively adjusting the oscillation of the launcher through the hydraulic actuator, enhancing the launching safety and the adaptability of the VMLS to the launching site. Firstly, considering the interaction among the launch canister, adapters, and missile, a 6-DOF dynamic model of the launch system is established, in combination with the dynamics of the hydraulic actuator. Then, in order to facilitate the nonlinear controller design, the seventh-order state-space equation is constructed, according to the dynamic model of the launch system. Subsequently, in view of the problem of “differential explosion” in the backstepping controller design of the seventh-order nonlinear system, a nonlinear dynamic surface control (DSC) framework is proposed. Meanwhile, the time delay estimation (TDE) technique is introduced to suppress the influence of the complex nonlinearities of the launch system on the missile attitude control, and a nonlinear robust control (NRC) is introduced to attenuate the TDE error. Both of these are integrated into the DSC framework, which can achieve asymptotic output tracking. Finally, numerical simulations are conducted to validate the superiority of the proposed control strategy in regards to missile launch response control. Full article
(This article belongs to the Special Issue Motion Planning, Trajectory Prediction, and Control for Robotics)
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16 pages, 4337 KiB  
Article
Experimental Analysis of Electrohydrodynamic Jet Actuation Modes Based on the Phase Doppler Technique
by Gustavo Nunes, Miguel Moreira, Frederico Rodrigues and José Páscoa
Actuators 2025, 14(3), 141; https://doi.org/10.3390/act14030141 - 13 Mar 2025
Viewed by 106
Abstract
Electrosprays have garnered significant interest across various fields, from automotive painting to aerospace propulsion, due to their versatility and precision. This study aims to explore the formation and behavior of the Taylor cone in electrospray systems through the observation of the different characteristics [...] Read more.
Electrosprays have garnered significant interest across various fields, from automotive painting to aerospace propulsion, due to their versatility and precision. This study aims to explore the formation and behavior of the Taylor cone in electrospray systems through the observation of the different characteristics of the produced droplets, in a way to enhance the control of the electrohydrodynamic jet. To obtain these results, the SpraySpy equipment was used, based on the phase Doppler technique, obtaining several characteristics of the droplets, such as velocity, size and distribution for a single liquid, acetone. These characteristics were acquired by varying parameters, namely the distance between the emitter and the collector, the liquid flow rate and the diameter of the emitter. Additionally, a high-speed camera was used to capture the cone angle, in the same operating conditions. The findings revealed a considerable decrease in particle velocity with an increase in the flow rate, while droplet size exhibited a noticeable tendency to grow under the increase in the emitter diameter. These insights aim to provide a deeper understanding of the relationship between these operational parameters and droplet behavior, contributing to the improvement of electrospray applications. Full article
(This article belongs to the Special Issue Flow Control and Beyond Enhancing Performance and Energy Efficiency in Complex Fluid System)
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14 pages, 5324 KiB  
Article
Development of Tendon-Driven Continuum Robot with Visual Posture Sensing for Object Grasping
by Ryo Onose and Hideyuki Sawada
Actuators 2025, 14(3), 140; https://doi.org/10.3390/act14030140 - 13 Mar 2025
Viewed by 226
Abstract
Inspired by the characteristics of living organisms with soft bodies and flexibility, continuum robots, which bend their robotic bodies and adapt to different shapes, have been widely introduced. Such robots can be used as manipulators to handle objects by wrapping themselves around them, [...] Read more.
Inspired by the characteristics of living organisms with soft bodies and flexibility, continuum robots, which bend their robotic bodies and adapt to different shapes, have been widely introduced. Such robots can be used as manipulators to handle objects by wrapping themselves around them, and they are expected to have high grasping performance. However, their infinite degrees of freedom and soft structure make modeling and controlling difficult. In this study, we develop a tendon-driven continuum robot system with color-based posture sensing. The robot is driven by dividing the continuum body into two parts, enabling it to grasp objects by flexible motions. For posture sensing, each joint is painted in a different color, and the 3D coordinates of each joint are detected by a stereo camera for estimating the 3D shape of the robotic body. By taking a video of the robot in actuation and using image processing to detect joint positions, we succeeded in obtaining the posture of the entire robot in experiments. We also robustly demonstrate the grasping manipulation of an object using the redundant structure of the continuum body. Full article
(This article belongs to the Special Issue Advanced Mechanism Design and Sensing for Soft Robotics)
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17 pages, 7928 KiB  
Article
Research on Viewpoints Planning for Industrial Robot-Based Three-Dimensional Sculpture Reconstruction
by Zhen Zhang, Changcai Cui, Guanglin Qin, Hui Huang and Fangchen Yin
Actuators 2025, 14(3), 139; https://doi.org/10.3390/act14030139 - 13 Mar 2025
Viewed by 90
Abstract
To improve the accuracy and completeness of three-dimensional sculpture reconstruction, this study proposes a global–local two-step scanning method for industrial robot-based scanning. First, a global model is generated through stepped rotary scanning based on the object’s dimensions. Subsequently, local viewpoint planning is conducted [...] Read more.
To improve the accuracy and completeness of three-dimensional sculpture reconstruction, this study proposes a global–local two-step scanning method for industrial robot-based scanning. First, a global model is generated through stepped rotary scanning based on the object’s dimensions. Subsequently, local viewpoint planning is conducted to refine regions that were incompletely captured in the initial step, with a genetic algorithm optimizing the scanning paths to enhance efficiency. The local models are then aligned and fused with the global model to produce the final 3D reconstruction. Comparative experiments on sculptures made of different materials were conducted to validate the effectiveness of the proposed method. Compared with CAD-slicing and surface-partitioning methods, the proposed approach achieved superior model completeness, a scanning accuracy of 0.26 mm, a standard deviation of 0.31 mm, and a total scanning time of 152 s. The results indicate that the proposed method enhances reconstruction integrity and overall quality while maintaining high efficiency, making it a viable approach for high-precision 3D surface inspection tasks. Full article
(This article belongs to the Section Actuators for Robotics)
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19 pages, 2550 KiB  
Article
Analytical Modeling of Shrouded Rotors in Hover with Experimental and Computational Validation
by Abdallah Dayhoum, Alejandro Ramirez-Serrano and Robert J. Martinuzzi
Actuators 2025, 14(3), 138; https://doi.org/10.3390/act14030138 - 11 Mar 2025
Viewed by 324
Abstract
Rotors have been utilized for aircraft propulsion since the dawn of aviation, but their performance can degrade significantly if not properly designed. This study focuses on developing an accurate design tool and model validation for shrouded rotors. An experimental test rig was designed [...] Read more.
Rotors have been utilized for aircraft propulsion since the dawn of aviation, but their performance can degrade significantly if not properly designed. This study focuses on developing an accurate design tool and model validation for shrouded rotors. An experimental test rig was designed and manufactured to measure the rotor thrust and total thrust separately as well as the rotor torque. A key aspect was to account for the impact of a test rig on experimental results using computational simulations for the shrouded rotor configuration with and without the test rig. The findings indicate that the effects of the test rig were minimal and could be neglected, ensuring the validity of the experimental data compared to the analytical model. The analytical model employs a hybrid approach combining blade element momentum theory (BEMT) and the sphere-cap model which are used in conjunction with the shrouded rotor inflow ratio, as well as post-stall and tip gap clearance models. BEMT is used to calculate rotor performance, while the sphere-cap model addresses the aerodynamic influence of the shroud. The results demonstrate that the analytical model predicts shrouded rotor performance with considerable accuracy, addressing both the rotor dynamics and the shroud’s contribution to performance. Full article
(This article belongs to the Special Issue Aerospace Mechanisms and Actuation—Second Edition)
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20 pages, 2602 KiB  
Article
Performance Improvement in a Vehicle Suspension System with FLQG and LQG Control Methods
by Tayfun Abut, Enver Salkım and Andreas Demosthenous
Actuators 2025, 14(3), 137; https://doi.org/10.3390/act14030137 - 10 Mar 2025
Viewed by 223
Abstract
This study investigates the effect of active control on a quarter-vehicle suspension system. The car suspension system was modeled using the Lagrange–Euler method. The linear quadratic Gaussian (LQG) and fuzzy linear quadratic Gaussian (FLQG) control methods were designed and used for active control [...] Read more.
This study investigates the effect of active control on a quarter-vehicle suspension system. The car suspension system was modeled using the Lagrange–Euler method. The linear quadratic Gaussian (LQG) and fuzzy linear quadratic Gaussian (FLQG) control methods were designed and used for active control to increase vehicle handling and passenger comfort, with the aim of reducing or eliminating vibrations by performing active control of passive suspension systems using these methods. The optimum values of the coefficients of the points where the membership functions of the LQG and Fuzzy LQG methods touch were obtained using the grey wolf optimization (GWO) algorithm. The success of the control performance rate of the applied methods was compared based on the passive suspension system. In addition, the obtained results were compared with each other and with other studies using the integral time-weighted absolute error (ITAE) performance criterion. The proposed control method yielded significant improvements in vehicle parameters compared with the passive suspension system. Vehicle body movement, vehicle acceleration, suspension deflection, and tire deflection improved by approximately 88.2%, 91.5%, 88%, and 89.4%, respectively. Thus, vehicle driving comfort was significantly enhanced based on the proposed system. Full article
(This article belongs to the Special Issue Advanced Actuation and Control Technologies for Vehicle Driving Systems—2nd Edition)
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22 pages, 2946 KiB  
Article
Fast Multimodal Trajectory Prediction for Vehicles Based on Multimodal Information Fusion
by Likun Ge, Shuting Wang and Guangqi Wang
Actuators 2025, 14(3), 136; https://doi.org/10.3390/act14030136 - 10 Mar 2025
Viewed by 263
Abstract
Trajectory prediction plays a crucial role in level autonomous driving systems, as real-time and accurate trajectory predictions can significantly enhance the safety of autonomous vehicles and the robustness of the autonomous driving system. We propose a novel trajectory prediction model that adopts the [...] Read more.
Trajectory prediction plays a crucial role in level autonomous driving systems, as real-time and accurate trajectory predictions can significantly enhance the safety of autonomous vehicles and the robustness of the autonomous driving system. We propose a novel trajectory prediction model that adopts the encoder–decoder paradigm. In the encoder, we introduce a dual-thread interaction relationship encoding method based on a sparse graph attention mechanism, which allows our model to aggregate richer multimodal interaction information. Additionally, we introduce a non-autoregressive query generation method that reduces the model’s inference time by approximately 80% through the parallel generation of decoding queries. Finally, we propose a multi-stage decoder that generates more accurate and reasonable predicted trajectories by predicting trajectory reference points and performing spatial and posture optimization on the predicted trajectories. Comparative experiments with existing advanced algorithms demonstrate that our method improves the minimum Average Displacement Error (minADE), minimum Final Displacement Error (minFDE), and Miss Rate (MR) by 10.3%, 10.3%, and 14.5%, respectively, compared to the average performance. Lastly, we validate the effectiveness of the various modules proposed in this paper through ablation studies. Full article
(This article belongs to the Special Issue Advances in Dynamics and Motion Control of Unmanned Aerial/Underwater/Ground Vehicles)
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29 pages, 14511 KiB  
Article
Research on Path Smoothing Method for Robot Scanning Measurement Based on Multiple Curves
by Chen Chen, Liandong Yu, Huakun Jia, Yichen Huang, Xiangyang Wang, Yang Lu, Rongke Gao and Hao Jin
Actuators 2025, 14(3), 135; https://doi.org/10.3390/act14030135 - 10 Mar 2025
Viewed by 249
Abstract
As the field of robotics advances swiftly, industrial automation has become prevalent in the realms of manufacturing and precision measurement. In robot measurement applications, the original path often originates from the discrete output of CAD models or point cloud data of vision systems, [...] Read more.
As the field of robotics advances swiftly, industrial automation has become prevalent in the realms of manufacturing and precision measurement. In robot measurement applications, the original path often originates from the discrete output of CAD models or point cloud data of vision systems, and its measurement path is a linear path composed of discrete feature points. Vibrations are generated by robots when passing through corners between adjacent linear segments. In order to reduce vibration, an algorithm for smoothing the robot’s measurement path based on multiple curves is proposed. Based on the proposed robot scanning measurement path generation algorithm, a robot scanning measurement path is generated. The position and attitude of the scanning path are represented as multiple curves using a position and attitude representation method based on multiple curves. The corners of the position curve and attitude curve are smoothed using a 5th-order B-spline curve. Based on the established robot position tolerance and attitude tolerance constraints and geometric continuity, the control points of the B-spline curve are solved, and corresponding position corner smooth B-spline curves and attitude corner smooth B-spline curves are constructed. Based on the geometric continuity, we use B-spline curves to replace the transition parts of adjacent position corner points and adjacent attitude corner points in the scanning path and then achieve the synchronization of robot position and attitude by the common curve parameter method. Finally, the effectiveness of our proposed path smoothing algorithm was verified through robot joint tracking experiments and scanning measurement experiments. Full article
(This article belongs to the Section Actuators for Manufacturing Systems)
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14 pages, 537 KiB  
Article
MPC-Based Speed Tracking Control for Subway Trains Under Actuator Constraints
by Dongdong Liu, Guojun Yan, Jing Zhou and Bo Chen
Actuators 2025, 14(3), 134; https://doi.org/10.3390/act14030134 - 10 Mar 2025
Viewed by 168
Abstract
In this paper, we propose a model predictive control (MPC)-based approach for the speed tracking control of subway trains, specifically designed to handle the complexities of constrained optimization in real-world applications. The control strategy accounts for nonlinearities, actuator constraints, and disturbances and is [...] Read more.
In this paper, we propose a model predictive control (MPC)-based approach for the speed tracking control of subway trains, specifically designed to handle the complexities of constrained optimization in real-world applications. The control strategy accounts for nonlinearities, actuator constraints, and disturbances and is validated using real operational data from the Ningbo Metro Line 7. Unlike traditional PID controllers, which are limited by their inability to handle dynamic changes and nonlinear systems, the MPC method optimizes control inputs by predicting future system behavior and adapting to variations in speed profiles. The effectiveness of the proposed MPC-based controller is demonstrated through a comparison with the PID control system already deployed on the metro line. Our results show that MPC provides superior speed tracking performance, particularly in dynamic and disturbed operating conditions, highlighting its potential advantages for real-world subway train control systems. Full article
(This article belongs to the Section Actuators for Surface Vehicles)
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22 pages, 296 KiB  
Review
Next-Generation Tools for Patient Care and Rehabilitation: A Review of Modern Innovations
by Faisal Mehmood, Nazish Mumtaz and Asif Mehmood
Actuators 2025, 14(3), 133; https://doi.org/10.3390/act14030133 - 8 Mar 2025
Viewed by 335
Abstract
This review article explores the transformative impact of next-generation technologies on patient care and rehabilitation. The advent of next-generation tools has revolutionized the fields of patient care and rehabilitation, providing modern solutions to improve scientific outcomes and affected person studies. Powered through improvements [...] Read more.
This review article explores the transformative impact of next-generation technologies on patient care and rehabilitation. The advent of next-generation tools has revolutionized the fields of patient care and rehabilitation, providing modern solutions to improve scientific outcomes and affected person studies. Powered through improvements in artificial intelligence, robotics, and smart devices, these improvements are reshaping healthcare with the aid of improving therapeutic approaches and personalizing treatments. In the world of rehabilitation, robotic devices and assistive technology are supplying essential help for people with mobility impairments, promoting more independence and healing. Additionally, wearable technology and real-time tracking systems permit continuous fitness information monitoring, taking into consideration early analysis and extra effective, tailored interventions. In clinical settings, these modern-day innovations have automated diagnostics, enabled remote patient-monitoring, and brought virtual rehabilitation systems that expand the reach of clinical experts. This comprehensive review delves into the evolution, cutting-edge programs, and destiny potential of that equipment by examining their capability to deliver progressed care even while addressing growing needs for efficient healthcare solutions. Furthermore, this review explores the challenges related to their adoption, including ethical considerations, accessibility barriers, and the need for refined regulatory standards to ensure their safe and widespread use. Full article
(This article belongs to the Special Issue Intelligent Systems, Robots and Devices for Healthcare and Rehabilitation)
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19 pages, 12501 KiB  
Article
VS-SLAM: Robust SLAM Based on LiDAR Loop Closure Detection with Virtual Descriptors and Selective Memory Storage in Challenging Environments
by Zhixing Song, Xuebo Zhang, Shiyong Zhang, Songyang Wu and Youwei Wang
Actuators 2025, 14(3), 132; https://doi.org/10.3390/act14030132 - 8 Mar 2025
Viewed by 257
Abstract
LiDAR loop closure detection is a key technology to mitigate localization drift in LiDAR SLAM, but it remains challenging in structurally similar environments and memory-constrained platforms. This paper proposes VS-SLAM, a novel and robust SLAM system that leverages virtual descriptors and selective memory [...] Read more.
LiDAR loop closure detection is a key technology to mitigate localization drift in LiDAR SLAM, but it remains challenging in structurally similar environments and memory-constrained platforms. This paper proposes VS-SLAM, a novel and robust SLAM system that leverages virtual descriptors and selective memory storage to enhance LiDAR loop closure detection in challenging environments. Firstly, to mitigate the sensitivity of existing descriptors to translational changes, we propose a novel virtual descriptor technique that enhances translational invariance and improves loop closure detection accuracy. Then, to further improve the accuracy of loop closure detection in structurally similar environments, we propose an efficient and reliable selective memory storage technique based on scene recognition and key descriptor evaluation, which also reduces the memory consumption of the loop closure database. Next, based on the two proposed techniques, we develop a LiDAR SLAM system with loop closure detection capability, which maintains high accuracy and robustness even in challenging environments with structural similarity. Finally, extensive experiments in self-built simulation, real-world environments, and public datasets demonstrate that VS-SLAM outperforms state-of-the-art methods in terms of memory efficiency, accuracy, and robustness. Specifically, the memory consumption of the loop closure database is reduced by an average of 92.86% compared with SC-LVI-SAM and VS-SLAM-w/o-st, and the localization accuracy in structurally similar challenging environments is improved by an average of 66.41% compared with LVI-SAM. Full article
(This article belongs to the Special Issue Modeling, Perception and Control of Robotic Systems with Real-World Applications)
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16 pages, 3356 KiB  
Article
Integrated Whole-Body Control and Manipulation Method Based on Teacher–Student Perception Information Consistency
by Shuqi Liu, Yufeng Zhuang, Shuming Hu, Yanzhu Hu and Bin Zeng
Actuators 2025, 14(3), 131; https://doi.org/10.3390/act14030131 - 7 Mar 2025
Viewed by 151
Abstract
In emergency scenarios, we focus on studying how to manipulate legged robot dogs equipped with robotic arms to move and operate in a small space, known as legged emergency manipulation. Although the legs of the robotic dog are mainly used for movement, we [...] Read more.
In emergency scenarios, we focus on studying how to manipulate legged robot dogs equipped with robotic arms to move and operate in a small space, known as legged emergency manipulation. Although the legs of the robotic dog are mainly used for movement, we found that implementing a whole-body control strategy can enhance its operational capabilities. This means that the robotic dog’s legs and mechanical arms can be synchronously controlled, thus expanding its working range and mobility, allowing it to flexibly enter and exit small spaces. To this end, we propose a framework that can utilize visual information to provide feedback for whole-body control. Our method combines low-level and high-level strategies: the low-level strategy utilizes all degrees of freedom to accurately track the body movement speed of the robotic dog and the position of the end effector of the robotic arm; the advanced strategy is based on visual input, intelligently planning the optimal moving speed and end effector position. At the same time, considering the uncertainty of visual guidance, we integrate fully supervised learning into the advanced strategy to construct a teacher network and use it as a benchmark network for training the student network. We have rigorously trained these two levels of strategies in a simulated environment, and through a series of extensive simulation validations, we have demonstrated that our method has significant improvements over baseline methods in moving various objects in a small space, facing different configurations and different target objects. Full article
(This article belongs to the Special Issue Design and Application of Actuators with Multi-DOF Movement-2nd Edition)
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18 pages, 822 KiB  
Article
Fuzzy Course Tracking Control of Unmanned Surface Vehicle with Actuator Input Quantization and Event-Triggered Mechanism
by Qifu Wang, Chenchen Jiang, Jun Ning, Liying Hao and Yong Yin
Actuators 2025, 14(3), 130; https://doi.org/10.3390/act14030130 - 7 Mar 2025
Viewed by 207
Abstract
This paper discusses the course tracking control of unmanned surface vehicles with actuator input quantization and an event-triggered mechanism. The system control laws are designed based on the backstepping method, combining dynamic surface control technology to mitigate the computational complexity expansion of virtual [...] Read more.
This paper discusses the course tracking control of unmanned surface vehicles with actuator input quantization and an event-triggered mechanism. The system control laws are designed based on the backstepping method, combining dynamic surface control technology to mitigate the computational complexity expansion of virtual control laws. A fuzzy logic system can be used to approximate the uncertainties in the control system. The control system’s control inputs are quantized by using uniform quantizers. Then, the event-triggered adaptive fuzzy quantization control method is introduced, which can reduce the frequency of control actions and effectively reduce the communication burden. The stability of the control system is rigorously proven using Lyapunov stability theory, ensuring that all signals in the closed-loop system remain bounded. Finally, simulation tests are used to show the algorithm’s efficiency and usefulness. Full article
(This article belongs to the Special Issue Control System of Autonomous Surface Vehicle)
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19 pages, 4821 KiB  
Article
Modelling, Control Design and Inclusion of Articulated Robots in Cyber-Physical Factories
by Květoslav Belda, Lukáš Venkrbec and Jan Jirsa
Actuators 2025, 14(3), 129; https://doi.org/10.3390/act14030129 - 6 Mar 2025
Viewed by 302
Abstract
This paper addresses the features and limits of the principles and means that provide and support the design of motion control for industrial stationary articulated robots and their involvement in cyber-physical factories as part of the Industry 4.0 concept. The proposed methods are [...] Read more.
This paper addresses the features and limits of the principles and means that provide and support the design of motion control for industrial stationary articulated robots and their involvement in cyber-physical factories as part of the Industry 4.0 concept. The proposed methods are presented herein, from the modelling of kinematics and dynamics considering ideal rigid bodies and principles of classical mechanics, to their application in the design of conventional cascade control and advanced model-based control and use within commercial software tools. The paper demonstrates the modelling principles adapted for control design where a specific novel hierarchical control configuration is outlined. There is an introduction of possible software tools such as Simscape, Robotics Systems Toolbox, RT Toolbox, CIROS and others. It includes the specific aim of the rapid prototyping of robot motion control, which is intended for user development and tuning. In conjunction with conveyor belts, robots-manipulators are essential for cyber-physical factories built on the concept of Industry 4.0. The concept of Industry 4.0 is discussed in respect to the proposed algorithms and software means. Full article
(This article belongs to the Section Actuators for Manufacturing Systems)
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