Journal Description
Actuators
Actuators
is an international, peer-reviewed, open access journal on the science and technology of actuators and control systems published monthly online by MDPI.
- Open Access— free for readers, with article processing charges (APC) paid by authors or their institutions.
- High Visibility: indexed within SCIE (Web of Science), Scopus, Inspec, and other databases.
- Journal Rank: JCR - Q2 (Engineering, Mechanical) / CiteScore - Q2 (Control and Optimization)
- Rapid Publication: manuscripts are peer-reviewed and a first decision is provided to authors approximately 17.7 days after submission; acceptance to publication is undertaken in 1.9 days (median values for papers published in this journal in the second half of 2024).
- Recognition of Reviewers: reviewers who provide timely, thorough peer-review reports receive vouchers entitling them to a discount on the APC of their next publication in any MDPI journal, in appreciation of the work done.
Impact Factor:
2.2 (2023);
5-Year Impact Factor:
2.4 (2023)
Latest Articles
Multi-Level Graph Attention Network-Based Anomaly Detection in Industrial Control System
Actuators 2025, 14(5), 210; https://doi.org/10.3390/act14050210 (registering DOI) - 25 Apr 2025
Abstract
Industrial control systems (ICSs) are vital to critical infrastructure in energy, manufacturing, and other industries. As ICSs become increasingly interconnected, their complexity grows, making them more vulnerable to cyber attacks and system failures. This growing complexity underscores the critical need for advanced anomaly
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Industrial control systems (ICSs) are vital to critical infrastructure in energy, manufacturing, and other industries. As ICSs become increasingly interconnected, their complexity grows, making them more vulnerable to cyber attacks and system failures. This growing complexity underscores the critical need for advanced anomaly detection techniques to ensure the safe and reliable operation of ICSs. To address this need, we propose a novel method, the physical process and controller graph attention network (PCGAT), which constructs multi-level graphs based on physical process and controller information. Experiments on two real-world ICS datasets demonstrate that PCGAT achieves superior performance and enables the localization of anomalies within specific physical processes. Moreover, by leveraging graph attention networks (GATs), PCGAT enhances interpretability in anomaly detection.
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(This article belongs to the Section Control Systems)
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Speed Sensorless Motion Control Scheme for a Robotic Manipulator Under External Forces and Payload Changes
by
Jorge Pacheco, David Cortés-Vega and Hussain Alazki
Actuators 2025, 14(5), 209; https://doi.org/10.3390/act14050209 - 24 Apr 2025
Abstract
This paper proposes the design of a speed sensorless robust discontinuous controller for the trajectory tracking problem of a 5-DOF robotic manipulator under payload changes and torque disturbances in the joints. The developed observer-based controller is capable of performing trajectory tracking, ensuring stability,
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This paper proposes the design of a speed sensorless robust discontinuous controller for the trajectory tracking problem of a 5-DOF robotic manipulator under payload changes and torque disturbances in the joints. The developed observer-based controller is capable of performing trajectory tracking, ensuring stability, fast error convergence and speed sensorless operation. In order to avoid joint speed measurement, an estimation scheme based on a differentiation algorithm is implemented to estimate it. Simulation tests developed in MATLAB/Simulink are presented to show the high performance of the proposed scheme for two different trajectories with the model of the CRS Catalyst-5 by Thermo Electron®, Burlington, ON, Canada.
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(This article belongs to the Section Control Systems)
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A Spatiotemporal Domain-Coupled Clustering Method for Performance Prediction of Cluster Systems
by
Yirui Zhang, Wei Cai, Jianxin Zhang, Ming Zhu and He Wang
Actuators 2025, 14(5), 208; https://doi.org/10.3390/act14050208 - 24 Apr 2025
Abstract
The performance prediction of the Five-hundred-meter Aperture Spherical radio Telescope (FAST) project represents one of the primary challenges faced by the system. To address the performance prediction issues of the FAST hydraulic actuator cluster system, a spatiotemporal domain-coupled clustering performance prediction method is
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The performance prediction of the Five-hundred-meter Aperture Spherical radio Telescope (FAST) project represents one of the primary challenges faced by the system. To address the performance prediction issues of the FAST hydraulic actuator cluster system, a spatiotemporal domain-coupled clustering performance prediction method is proposed. By preprocessing data from the FAST health monitoring system, virtual samples constructed from temporal-domain data are integrated with spatial-domain data, thereby resolving the small-sample and even zero-sample issues caused by missing fault data in the FAST hydraulic actuator cluster system. The effectiveness of the spatiotemporal domain-coupled clustering is validated through performance prediction of the hydraulic actuator cluster system. Subsequent optimization of the prediction protocol based on experimental outcomes demonstrated exceptional performance, with 96.8% of actuators achieving prediction accuracies exceeding 99%. This advancement establishes a robust technical foundation for accurate performance prediction in the FAST hydraulic actuator cluster system, thereby enhancing operational reliability and maintenance efficiency.
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(This article belongs to the Section Control Systems)
Open AccessArticle
Enhancing Obstacle Avoidance in Dynamic Window Approach via Dynamic Obstacle Behavior Prediction
by
Bongsu Hahn
Actuators 2025, 14(5), 207; https://doi.org/10.3390/act14050207 - 24 Apr 2025
Abstract
This paper proposes an enhanced local path planning method based on the Dynamic Window Approach (DWA), enabling a mobile robot to safely avoid obstacles and efficiently reach its destination. To overcome the limitations of the conventional DWA in handling dynamic obstacles and to
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This paper proposes an enhanced local path planning method based on the Dynamic Window Approach (DWA), enabling a mobile robot to safely avoid obstacles and efficiently reach its destination. To overcome the limitations of the conventional DWA in handling dynamic obstacles and to improve goal reachability, the velocity term—originally evaluated solely by speed—was redefined as the distance difference between the robot’s predicted future position and the target destination. This modification allows the robot to more effectively anticipate its short-term position while simultaneously considering potential obstacle locations. In particular, a linear prediction model for dynamic obstacle behavior was introduced, which estimates the future positions of obstacles based on their current position, velocity, and heading direction. Under the assumption that obstacles maintain constant speed and direction over short intervals, this model enables the robot to proactively plan avoidance maneuvers before a collision risk arises. Furthermore, a novel risk assessment strategy was incorporated to enhance collision prevention. This approach categorizes obstacles in front of the robot according to both distance and angle, evaluates obstacle density in various directions, and guides the robot toward safer paths with fewer surrounding obstacles. The effectiveness of the proposed method was validated through extensive simulations, comparing the conventional DWA, a modified DWA with the new velocity term, and the proposed DWA with dynamic obstacle behavior prediction. The results demonstrated that the proposed approach significantly reduced the number of collisions and overall travel time, thereby confirming its superiority in highly dynamic and uncertain environments.
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(This article belongs to the Section Control Systems)
Open AccessArticle
Nonlinear Backstepping Fault-Tolerant Controllers with Extended State Observers for Aircraft Wing Failures
by
Yansheng Geng, Bo Wang and Xiaoxiong Liu
Actuators 2025, 14(5), 206; https://doi.org/10.3390/act14050206 - 24 Apr 2025
Abstract
To effectively overcome changes in aircraft aerodynamic and control characteristics caused by wing surface damage, this paper proposes a fault-tolerant control method based on an extended state observer (ESO) to ensure flight mission requirements under wing surface and control surface failures. First, considering
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To effectively overcome changes in aircraft aerodynamic and control characteristics caused by wing surface damage, this paper proposes a fault-tolerant control method based on an extended state observer (ESO) to ensure flight mission requirements under wing surface and control surface failures. First, considering the characteristics and requirements of backstepping control in addressing nonlinear problems, an extended observer is designed to estimate disturbances and uncertainties induced by wing surface failures, and its stability is analyzed by using the Lyapunov method. Next, a backstepping control law for the airflow angle loop is designed based on the extended observer. The serial-chain method is introduced as an allocation algorithm for fault-tolerant flight control in order to compensate for the changes in control efficiency caused by wing surface faults. And stability analysis is conducted by integrating the control characteristics of the aircraft’s airflow angle loop, proving the uniformly bounded stability of the controller. Finally, fault-tolerant control simulations are performed under scenarios of wing damage, elevator damage, and actuator jamming faults. The simulation results demonstrate that the proposed method achieves excellent control performance during wing surface failures.
Full article
(This article belongs to the Special Issue Actuation and Robust Control Technologies for Aerospace Applications)
Open AccessArticle
Reliability Modeling and Verification of Locking Mechanisms Based on Failure Mechanisms
by
Ping Qian, Tianying Tu, Wenhua Chen, Fan Yang, Chi Chen and Yucheng Zhu
Actuators 2025, 14(5), 205; https://doi.org/10.3390/act14050205 - 23 Apr 2025
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The locking mechanism is crucial for the reliable connection and disconnection of electrical connectors. Aiming at the lack of theoretical support for the reliability evaluation in long-term storage, a comprehensive multi-theory modeling method is proposed to solve unlocking failure and related performance-evaluation problems.
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The locking mechanism is crucial for the reliable connection and disconnection of electrical connectors. Aiming at the lack of theoretical support for the reliability evaluation in long-term storage, a comprehensive multi-theory modeling method is proposed to solve unlocking failure and related performance-evaluation problems. An analysis reveals that metal-crystal dislocation glide, causing pull-rod deformation and spring stress relaxation, is the main cause of unlocking failure. Based on Hertz’s contact theory, a locking-state mechanical model is established. Integrating the crystal dislocation-slip theory, an accelerated degradation trajectory model considering design parameters is developed to characterize the friction between the pull rod and steel ball and the spring’s elastic-force degradation. Finally, the model is verified using the unlocking-force accelerated test data. It offers a theoretical basis for the reliability evaluation and design of locking mechanisms in long-term storage environments.
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Open AccessArticle
Modeling and Adaptive Control of Double-Pendulum Offshore Cranes with Distributed-Mass Payloads and External Disturbances
by
Shudong Guo, Nan Li, Qingxiang Wu, Yuxuan Jiao, Yaxuan Wu, Weijie Hou, Yuehua Li, Tong Yang and Ning Sun
Actuators 2025, 14(5), 204; https://doi.org/10.3390/act14050204 - 23 Apr 2025
Abstract
Offshore cranes are widely used in important fields such as wind power construction and ship replenishment. However, large payloads such as wind turbine blades are hoisted by multiple steel wire ropes, which makes it difficult to directly control their movements; that is, the
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Offshore cranes are widely used in important fields such as wind power construction and ship replenishment. However, large payloads such as wind turbine blades are hoisted by multiple steel wire ropes, which makes it difficult to directly control their movements; that is, the number of input degrees of freedom is less than that of the output degrees of freedom. In addition, compared with land cranes, offshore cranes are inevitably affected by waves, wind, etc. The transition from a fixed base to a dynamic base brings severe challenges to their oscillation suppression and precise positioning. At the same time, to improve operational efficiency, the hoisting operation of offshore cranes usually adopts velocity input control patterns that fit the habits of manual operation, and most of them are in the form of dual-axis linkage for pitch and hoisting. Therefore, this paper proposes a fast terminal sliding mode control method for double-pendulum offshore cranes with distributed-mass payloads (DMPs). First, a nonlinear dynamic model of offshore cranes considering DMPs is established, and a dynamic model based on acceleration input control patterns is acquired. Based on this, considering the variation in hoisting rope lengths, a novel adaptive control method is proposed. Finally, simulation results verify the effectiveness of the proposed method, and the robustness of the proposed method to DMP mass parameter uncertainty and disturbances is demonstrated.
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(This article belongs to the Special Issue Modeling and Nonlinear Control for Complex MIMO Mechatronic Systems)
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Chaos Anticontrol and Switching Frequency Impact on MOSFET Junction Temperature and Lifetime
by
Cristina Morel and Jean-Yves Morel
Actuators 2025, 14(5), 203; https://doi.org/10.3390/act14050203 - 23 Apr 2025
Abstract
Generating chaos from originally non-chaotic systems is a promising issue. Indeed, chaos has been successfully applied in many fields to improve system performance. In this work, a Buck converter is chaotified using a combination of the switching piecewise-constant characteristic and of anticontrol of
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Generating chaos from originally non-chaotic systems is a promising issue. Indeed, chaos has been successfully applied in many fields to improve system performance. In this work, a Buck converter is chaotified using a combination of the switching piecewise-constant characteristic and of anticontrol of chaos feedback. For electromagnetic compatibility compliance reasons, this feedback control method is able, at the same time, to achieve low spectral emissions and to maintain a small ripple of the output voltage and the inductance current. This new feedback implies a fast and non-linear switching action of the Buck MOSFET on a period of the ramp generator. Thus, it is essential to analyze its thermal performance. This is why we propose an original analysis of the influence of anticontrol of chaos and switching frequency variation on junction temperature: we investigate the correlation between the lifetime of the power electronic switching component and its thermal stress due to the addition of chaos. It appeared that a reduction in the current ripple did not degrade the MOSFET junction thermal performance, despite the fast switching of the MOSFET. Furthermore, a small degradation in the MOSFET lifetime was indicated for chaotic behavior versus periodic behavior. Thus, this leads to the conclusion that using anticontrol of chaos produces a low accumulated fatigue effect on a Buck converter semiconductor.
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(This article belongs to the Special Issue Fault Detection and Isolation, Fault Tolerant Control for Autonomous and Transport Vehicles)
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Efficient CoM Motion Planning for Quadruped Robots’ Quasi-Static Walking
by
Milutin Nikolić, Vladimir Mitić, Srđan Savić and Tianwei Zhang
Actuators 2025, 14(5), 202; https://doi.org/10.3390/act14050202 - 23 Apr 2025
Abstract
With the popularity of quadruped robots, the main challenge they must overcome is traversing unstructured environments. Current methods that allow modern robots to traverse challenging terrain are unsuitable for situations at the edge of robot performance, where torque limits and contact forces must
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With the popularity of quadruped robots, the main challenge they must overcome is traversing unstructured environments. Current methods that allow modern robots to traverse challenging terrain are unsuitable for situations at the edge of robot performance, where torque limits and contact forces must be carefully considered. This paper will investigate a way of generating feasible center of mass (CoM) trajectories applicable in such cases. A feasible CoM trajectory is one that the robot can perform considering contact, torque, and reachability constraints. We improve the existing method for finding feasible CoM regions, yielding a thirty times speedup so that it can run under 1 ms. Based on that improvement, we introduce a new iterative CoM planner that sequentially solves prioritized constrained IK and computes feasible regions. That way, we guarantee the satisfaction of contact constraints, torque constraints, and reachability. The planned motion was performed using a whole-body controller. We tested the approach on high-fidelity simulation and on real Solo12 quadruped, achieving the control loop frequency of 1 kHz. The whole codebase has been disclosed on GitHub.
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(This article belongs to the Special Issue Dynamics and Control of Underactuated Systems)
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Automatic PLC Control Logic Generation Method Based on SysML System Design Model
by
Bo Ling, Changyong Chu and Chuan Xu
Actuators 2025, 14(5), 201; https://doi.org/10.3390/act14050201 - 22 Apr 2025
Abstract
Automatic generation of Programmable Logic Controller (PLC) programs from system design models can reduce system development costs and shorten system development cycles. However, effective methods for ensuring the quality and performance of control logic automatically generated from system design models are still lacking.
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Automatic generation of Programmable Logic Controller (PLC) programs from system design models can reduce system development costs and shorten system development cycles. However, effective methods for ensuring the quality and performance of control logic automatically generated from system design models are still lacking. This paper proposed a model-driven PLC program automatic generation approach. Firstly, a clear formal specification for the system design model oriented to PLC programming was established. Secondly, the fundamental semantic correspondence between system model elements and PLC program elements was defined by devising a set of mapping rules. Thirdly, a novel mapping algorithm was proposed to generate a PLC program based on system design models. Finally, an example of the automatic generation of a PLC control program for a handling robot was used to verify the effectiveness of the method. This method can provide system-level design and analysis capabilities during the initial stages of model development, offering solutions to the challenges of complexity modeling and engineering efficiency. Additionally, it is expected to have wide-ranging applications in the industrial automation sector, thereby contributing to the innovation and advancement of automation systems.
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(This article belongs to the Section Control Systems)
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Active Disturbance Rejection for Linear Induction Motors: A High-Order Sliding-Mode-Observer-Based Twisting Controller
by
Yongwen Liu, Lei Zhang, Pu Li and Yaoli Xu
Actuators 2025, 14(4), 200; https://doi.org/10.3390/act14040200 - 21 Apr 2025
Abstract
This paper presents a twisting controller (TC) based on a high-order sliding mode observer (HOSMO) for linear induction motors (LIMs), accounting for dynamic end effects. Based on the LIM model in the field-oriented frame, two extended subsystems are developed: a velocity extended model
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This paper presents a twisting controller (TC) based on a high-order sliding mode observer (HOSMO) for linear induction motors (LIMs), accounting for dynamic end effects. Based on the LIM model in the field-oriented frame, two extended subsystems are developed: a velocity extended model and a flux extended model. Using these models, two HOSMOs are designed to estimate the disturbances in each subsystem. The HOSMO outputs are then used for disturbance rejection, resulting in two second-order systems with small bounded disturbances. Two TCs are subsequently implemented to achieve finite-time velocity and flux tracking of the LIM. The primary advantage of this strategy lies in its ability to reduce chattering through active disturbance rejection. Hardware-in-the-loop (HIL) experiments validate the effectiveness of the proposed TC-HOSMO scheme.
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(This article belongs to the Section Control Systems)
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An Optimized Position Control via Reinforcement-Learning-Based Hybrid Structure Strategy
by
Nebiyeleul Daniel Amare, Sun Jick Yang and Young Ik Son
Actuators 2025, 14(4), 199; https://doi.org/10.3390/act14040199 - 21 Apr 2025
Abstract
Most control system implementations rely on single structures optimized for specific performance criteria through rigorous derivation. While effective for their intended purpose, such controllers often underperform in areas outside their primary optimization focus and involve performance trade-offs. A notable example is the Internal
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Most control system implementations rely on single structures optimized for specific performance criteria through rigorous derivation. While effective for their intended purpose, such controllers often underperform in areas outside their primary optimization focus and involve performance trade-offs. A notable example is the Internal Model Principle (IMP) controller, renowned for its robustness and precision in reference tracking under periodic disturbances. However, IMP controllers exhibit poor transient-state performance, characterized by significant overshoot and oscillatory responses, which remains a persistent challenge. To address this limitation, this paper proposes a reinforcement learning (RL)-based hybrid control scheme that overcomes the trade-off in IMP controllers between achieving zero steady-state tracking error and a fast transient response. The proposed method integrates a cascade control structure, optimized for transient-state performance, with an IMP controller, optimized for robust reference tracking under sinusoidal disturbances, through switching logic governed by a Deep Q-Network model. Smooth transitions between control modes are ensured using an internal state update mechanism. The proposed approach is validated through simulations and experimental tests on a direct current (DC) motor position control system. The results demonstrate that the hybrid structure effectively resolves the trade-off associated with IMP controllers, yielding improved performance metrics, such as rapid convergence to the reference, reduced transient overshoot, and enhanced nominal performance recovery against disturbances.
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(This article belongs to the Special Issue Analysis and Design of Linear/Nonlinear Control System)
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Research on the Bearingless Brushless DC Motor Structure with Like-Tangential Parallel-Magnetization Interpolar Magnetic Poles and Its Air-Gap Magnetic Field Analytical Calculation
by
Wenshao Bu, Zongang Fan, Jinghui Zhang and Wenqing Tao
Actuators 2025, 14(4), 198; https://doi.org/10.3390/act14040198 - 19 Apr 2025
Abstract
This work focuses on the small Bearingless Brushless DC Motor (BL-BLDCM), to solve the problems, such as larger commutation torque ripple and difficult solution of air-gap magnetic field, a novel BL-BLDCM structure with like-tangential parallel-magnetization interpolar magnetic poles (LTPMIMPs) is proposed, which is
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This work focuses on the small Bearingless Brushless DC Motor (BL-BLDCM), to solve the problems, such as larger commutation torque ripple and difficult solution of air-gap magnetic field, a novel BL-BLDCM structure with like-tangential parallel-magnetization interpolar magnetic poles (LTPMIMPs) is proposed, which is abbreviated as BL-BLDCM-LTPMIMP in this work, and the analytical calculation model of its air-gap magnetic field has been investigated. First, inserting a like-tangential parallel magnetizing auxiliary magnetic pole between every two adjacent single-radial-magnetizing main poles, and forming several combination magnetic poles, each of which is composed of a radial-magnetizing main magnetic pole and two semi-auxiliary-magnetic-poles (with different magnetization directions) located on both sides. Then, by solving the Laplace equation and Poisson equation in every subdomain, and combining the relative permeability function, the analytical expressions of the air-gap magnetic fields for the BL-BLDCM-LTPMIMP was obtained. The armature reaction magnetic fields of the torque windings and suspension windings are also analyzed. Finally, through the finite element method (FEM), the correctness and computational accuracy of the analytical calculation model for the air-gap magnetic field is proven. Additionally, the comparison of electromagnetic characteristics with ordinary BL-BLDCM shows that the BL-BLDCM-LTPMIMP can not only effectively improve the amplitude and stability of electromagnetic torque on the basis of obtaining a shoulder-shrugged trapezoidal wave air-gap magnetic field but also has stable radial magnetic levitation force control characteristics.
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(This article belongs to the Special Issue Actuators in Magnetic Levitation Technology and Vibration Control)
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Intelligent Robust Motion Control of Aerial Robot
by
Cao-Tri Dinh, Thien-Dinh Nguyen, Young-Bok Kim, Thinh Huynh and Jung-Suk Park
Actuators 2025, 14(4), 197; https://doi.org/10.3390/act14040197 - 18 Apr 2025
Abstract
This study presents the design of an intelligent robust controller for the 3-degree-of-freedom motion of an aerial robot using waterpower. The proposed controller consists of two parts: (1) an anti-windup super-twisting algorithm that provides stability to the system under actuator saturation; and (2)
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This study presents the design of an intelligent robust controller for the 3-degree-of-freedom motion of an aerial robot using waterpower. The proposed controller consists of two parts: (1) an anti-windup super-twisting algorithm that provides stability to the system under actuator saturation; and (2) a fully adaptive radial basis function neural network that estimates and compensates for unexpected influences, i.e., system uncertainties, water hose vibration, and external disturbances. The stability of the entire closed-loop system is analyzed using the Lyapunov stability theory. The controller parameters are optimized such that the effect of these unexpected influences on the control system is minimized. This optimization problem is interpreted in the form of an eigenvalue problem, which is solved using the method of centers. Experiments are conducted where a proportional-integral-derivative controller and a conventional sliding mode controller are deployed for comparison. The results demonstrate that the proposed control system outperforms the others, with small tracking errors and strong robustness against unexpected influences.
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(This article belongs to the Section Control Systems)
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High-Precision Control of Control Moment Gyroscope Gimbal Servo Systems via a Proportional–Integral–Resonant Controller and Noise Reduction Extended Disturbance Observer
by
Zhihao Lu and Zhong Wu
Actuators 2025, 14(4), 196; https://doi.org/10.3390/act14040196 - 18 Apr 2025
Abstract
Speed control accuracy of gimbal servo systems for control moment gyroscopes (CMGs) is crucial for spacecraft attitude control. However, multiple disturbances from internal and external factors severely degrade the speed control accuracy of gimbal servo systems. To suppress the effects of these complex
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Speed control accuracy of gimbal servo systems for control moment gyroscopes (CMGs) is crucial for spacecraft attitude control. However, multiple disturbances from internal and external factors severely degrade the speed control accuracy of gimbal servo systems. To suppress the effects of these complex disturbances on speed control accuracy, a control method based on a proportional–integral–resonant (PIR) controller and a noise reduction extended disturbance observer (NREDO) is proposed in this paper. First, the disturbance dynamic model of an th-order NREDO is derived. The integral of the virtual measurement of the lumped disturbance is an augmented state in the model. NREDO states are updated by using the estimation error of the augmented state. The NREDO significantly enhances the measurement noise suppression performance compared with an EDO. Second, a resonant controller is introduced to suppress the high-frequency rotor dynamic imbalance torque. The PIR controller is composed of a resonant controller in parallel with a PI controller. Numerical simulation and experimental results demonstrate the effectiveness of the proposed method.
Full article
(This article belongs to the Special Issue New Control Schemes for Actuators—2nd Edition)
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Design and Experimental Research of a New Bistable Electronic Parking Brake System for Commercial Vehicles
by
Feng Chen, Zhiquan Fu, Baoxiang Qiu, Gangqiang Chen, Leyong Mao, Qijiang He, Lai Yang, Xinni Mo and Xiaoqing Sun
Actuators 2025, 14(4), 195; https://doi.org/10.3390/act14040195 - 17 Apr 2025
Abstract
To further solve the problems of commercial vehicle electronic parking brake systems under typical operating conditions, such as manual parking/release, emergency parking, ramp parking leakage, and so on, a new bistable electronic parking brake system (EPB) is proposed and studied in this paper.
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To further solve the problems of commercial vehicle electronic parking brake systems under typical operating conditions, such as manual parking/release, emergency parking, ramp parking leakage, and so on, a new bistable electronic parking brake system (EPB) is proposed and studied in this paper. First, the principle of the proposed bistable electronic parking brake system is described. Then, the control parameters of the electronic parking brake system are presented in detail, and the design scheme of the automatic parking/release control strategy is listed. Subsequently, an experimental road test system is designed, and the excellent performance of the designed bistable EPB is demonstrated by said road experiments. The research results show that the presented bistable EPB can effectively solve the problems of high-speed parking and ramp parking failure and significantly improve the braking safety of the whole vehicle.
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(This article belongs to the Section Actuators for Surface Vehicles)
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Finite-Time Control for Maneuvering Aircraft with Input Constraints and Disturbances
by
Zhangyong Zhou, Yaohua Shen and Mou Chen
Actuators 2025, 14(4), 194; https://doi.org/10.3390/act14040194 - 14 Apr 2025
Abstract
In this paper, a finite-time control method integrating a high-order disturbance observer (HODO) and a finite-time auxiliary system (FTAS) is proposed for maneuvering aircraft under disturbances and input constraints. To attenuate the adverse effects of disturbances, the HODOs were designed to obtain their
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In this paper, a finite-time control method integrating a high-order disturbance observer (HODO) and a finite-time auxiliary system (FTAS) is proposed for maneuvering aircraft under disturbances and input constraints. To attenuate the adverse effects of disturbances, the HODOs were designed to obtain their estimations, which were then incorporated into the control channel as feedforward compensation. To solve the issue of input constraints, a novel FTAS was developed to ensure effective control performance. To achieve rapid attitude tracking for maneuvering aircraft and address the issue of singularity caused by the virtual control derivative, finite-time control with a piecewise function technique was employed. Furthermore, the stability analysis of the closed-loop system was conducted through Lyapunov stability theory. Finally, the efficacy of the proposed control method was demonstrated by simulation results.
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(This article belongs to the Section Aerospace Actuators)
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Open AccessArticle
Modeling and Hysteresis Inverse Compensation Control of Soft Pneumatic Gripper for Gripping Phosphorites
by
Yang Zhang, Junjie Lu, Zixin Huang and Bing Feng
Actuators 2025, 14(4), 193; https://doi.org/10.3390/act14040193 - 14 Apr 2025
Abstract
The emergence of soft robots provides new opportunities for developing phosphorite processing equipment. In this article, a soft pneumatic gripper (SPG) for gripping phosphorites is designed. On this basis, the dynamic modeling method and hysteresis inverse compensation control method for the SPG are
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The emergence of soft robots provides new opportunities for developing phosphorite processing equipment. In this article, a soft pneumatic gripper (SPG) for gripping phosphorites is designed. On this basis, the dynamic modeling method and hysteresis inverse compensation control method for the SPG are proposed. First, an SPG for gripping phosphorites is designed based on pneumatic actuation technology. Meanwhile, the gripping ability of the designed SPG is experimentally examined. Next, a dynamic model of the SPG is established by combining the Bouc–Wen model and a linear dynamic model. The output of the established dynamic model can fit the experimental data well, which shows that the established dynamic model of the SPG can describe its motion characteristics. Then, by constructing the inverse expression of the established dynamic model, the hysteresis inverse compensation control method for the SPG is presented to realize its motion control. Finally, the result of the control system simulation illustrates that the presented control method is effective.
Full article
(This article belongs to the Special Issue Advancement in the Design and Control of Robotic Grippers—Second Edition)
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Topological Design and Modeling of 3D-Printed Grippers for Combined Precision and Coarse Robotics Assembly
by
Mohammad Mayyas, Naveen Kumar, Zahabul Islam, Mohammed Abouheaf and Muteb Aljasem
Actuators 2025, 14(4), 192; https://doi.org/10.3390/act14040192 - 14 Apr 2025
Abstract
This study presents a topological design and modeling framework for 3D-printed robotic grippers, tailored for combined precision and coarse robotics assembly. The proposed methodology leverages topology optimization to develop multi-scale-compliant mechanisms, comprising a symmetrical continuum structure of five beams. The proposed methodology centers
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This study presents a topological design and modeling framework for 3D-printed robotic grippers, tailored for combined precision and coarse robotics assembly. The proposed methodology leverages topology optimization to develop multi-scale-compliant mechanisms, comprising a symmetrical continuum structure of five beams. The proposed methodology centers on the hybrid kinematics for precision and coarse operations of the gripper, parametrizing beam deformations in response to a defined set of boundary conditions and varying input loads. The research employs topology analysis to draw a clear correlation between input load and resultant motion, with a particular emphasis on the mechanism’s capacity to integrate both fine and coarse movements efficiently. Additionally, the paper pioneers an innovative solution to the ubiquitous point-contact problem encountered in grasping, intricately weaving it with the stiffness matrix. The overarching aim remains to provide a streamlined design methodology, optimized for manufacturability, by harnessing the capabilities of contemporary 3D fabrication techniques. This multifaceted approach, underpinned by the multiscale grasping method, promises to significantly advance the domain of robotic gripping and manipulation across applications such as micro-assembly, biomedical manipulation, and industrial robotics.
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(This article belongs to the Special Issue Advancement in the Design and Control of Robotic Grippers—Second Edition)
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Research on Simplified Design of Model Predictive Control
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Qing Zhang, Chi Zhang, Qi Wang, Shiyun Dong and Aoqi Xiao
Actuators 2025, 14(4), 191; https://doi.org/10.3390/act14040191 - 13 Apr 2025
Abstract
PID controllers have been dominant in the field of process control for a long time, but their control quality is not ideal and the difficulty of parameter tuning has always been a problem. MPCs have good control quality and robustness, but due to
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PID controllers have been dominant in the field of process control for a long time, but their control quality is not ideal and the difficulty of parameter tuning has always been a problem. MPCs have good control quality and robustness, but due to the complexity of the algorithm, most are limited to software on PC machines. Although there are examples of implementations on hardware, they are restricted to specific scenarios and are of an experimental nature. The barriers to application and maintenance are high, and therefore, it has not become as popular as PID. The common self-balancing industrial objects are approximated as a first order plus dead time (FOPDT) model, and various parameters are simplified to obtain the control law of the simplified MPC controller. The control law has a small amount of calculation, good control quality, simple parameter settings, and is suitable for embedding in the field controller. Coupled with the auxiliary identification method, field technicians can easily use it. MATLAB (2016a) comparative simulation experiments show that the simplified MPC controller has obvious control advantages over PID. The results of field engineering applications also show that the simplified MPC controller can feasibly replace the PID algorithm in industrialization.
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(This article belongs to the Section Control Systems)
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