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A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Robotics and Automation".

Deadline for manuscript submissions: 30 November 2024 | Viewed by 13176

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Special Issue Editors

Prof. Dr. Miaolei Zhou

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Guest Editor

College of Communication Engineering, Jilin University, Changchun 130022, China
Interests: modeling and control for micro/nano devices and systems; nonlinear control theory; navigation and control of robot.
Special Issues, Collections and Topics in MDPI journals

Dr. Rui Xu

E-Mail Website
Guest Editor

Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences, Changchun, China
Interests: precision control; control theory; control technology

Special Issue Information

Dear Colleagues,

With the development and progress of technology, advanced control systems have been continuously introduced and applied in various fields, becoming an effective means to improve system performance and optimize production processes. Academic research on advanced control system design has shifted to solving challenging application problems. Many rather abstract theoretical tools seem to play an important role in practical application problems, but the design steps remain obscure. There are great challenges in implementing advanced control systems in practical applications. It was hard to find a way to tune advanced controllers to get enough performance in a reasonable time frame and find a robust solution. The main opportunity for our Special Issue lies in new technologies that solve these problems arising in the field of applied control, and it is hoped that the Special Issue will attract some of the latest contributions to advanced control system design. This Special Issue reflects the latest developments in advanced control systems.

The aim of the present Special Issue is to create a forum for experts, professionals, and readers interested in topics related to advanced control systems and applications. Specific topics of interest include (but are not limited to) the following:

Industrial internet-based control;
Advanced control theory;
Nonlinear control;
Neural network control;
Fuzzy control;
Adaptive control;
Iterative learning control;
Data-driven control;
Mechatronics;
Robotic control;
Automobile control;
Nanopositioning control
Aerospace applications;
Passive and active vibration control;
Bio-medical applications.

Prof. Dr. Miaolei Zhou
Dr. Rui Xu
Guest Editors

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Keywords

advanced control theory
nonlinear control
neural network control
fuzzy control
adaptive control
iterative learning control
data-driven control

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Published Papers (11 papers)

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Research

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17 pages, 4934 KiB

Open AccessArticle

A Novel Equivalent Combined Control Architecture for Electro-Optical Equipment: Performance and Robustness

by Yang Liu, Yulong Zheng, Mo Chen, Jian Chen and Weiguo Wang

Appl. Sci. 2024, 14(15), 6708; https://doi.org/10.3390/app14156708 - 1 Aug 2024

Viewed by 367

Abstract

In this paper, we propose a novel equivalent composite control architecture for electro-optical equipment. The improved tracking performance and loss of robustness caused by this structure have a clear relationship with

a_{2}

, the time coefficient of the compensation circuit. The compensation [...] Read more.

a_{2}

, the time coefficient of the compensation circuit. The compensation circuit can make the speed quality factor and the acceleration quality factor of the system infinite, and the jerk quality factor can be expanded to

1 / a_{2}

times the original acceleration quality factor, but it will cause a main zero point of the servo system to be far away from the virtual axis and the main poles to be close to the virtual axis. As the time coefficient of the compensation loop controller decreases, the tracking performance of the system increases, but the robustness decreases, the dynamic response deteriorates, the water bed effect becomes more obvious, and the system is more susceptible to noise and disturbances. Compared to the existing method, our method focuses on system performance and robustness. Experimental results show that our method can achieve target tracking with a peak accuracy of 64

″

and 22

″

(RMS), which is superior to the tracking performance without equivalent composite control. Full article

(This article belongs to the Special Issue Advanced Control Systems and Applications)

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14 pages, 4361 KiB

Open AccessArticle

An Improved Deviation Coupling Control Method for Speed Synchronization of Multi-Motor Systems

by Ying Mu, Liqun Qi, Mingyuan Sun and Wenbo Han

Appl. Sci. 2024, 14(12), 5300; https://doi.org/10.3390/app14125300 - 19 Jun 2024

Cited by 1 | Viewed by 533

Abstract

In order to enhance the synchronization of welding robot arms and improve welding quality, this study proposes a fuzzy PID-based improved deviation coupling multi-axis synchronous control method. Firstly, in response to the intricacies inherent in the compensation mechanism of the deviation coupling control structure and the substantial volume of system computation, the integration of average speed and sub-average speed is proposed to optimize the speed compensator. This integration aims to mitigate speed synchronization errors, minimize synchronization adjustment time, and elevate overall system synchronization performance. Moreover, the fuzzy PID algorithm is employed to design the controller to realize the single-motor adaptive control, leading to improvement in both system stability and dynamic response performance. Finally, a simulation model for six-axis synchronization control and an experimental platform were developed. Both simulation and experimental results demonstrate that the improved deviation coupling control method exhibits superior synchronization performance. The proposed multi-axis synchronous control method effectively heightens the synchronous performance of the six-degrees-of-freedom robotic arm. Full article

(This article belongs to the Special Issue Advanced Control Systems and Applications)

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19 pages, 7939 KiB

Open AccessArticle

Inductance Estimation Based on Wavelet-GMDH for Sensorless Control of PMSM

by Gwangmin Park and Junhyung Bae

Appl. Sci. 2024, 14(11), 4386; https://doi.org/10.3390/app14114386 - 22 May 2024

Viewed by 577

Abstract

In permanent magnet synchronous motor (PMSM) sensorless drive systems, the motor inductance is a crucial parameter for rotor position estimation. Variations in the motor current induce changes in the inductance, leading to core magnetic saturation and degradation in the accuracy of rotor position estimation. In systems with constant load torque, the saturated inductance remains constant. This inductance error causes a consistent error in rotor position estimation and some performance degradation, but it does not result in speed estimation errors. However, in systems with periodic load torque, the error in the saturated inductance varies, consequently causing fluctuations in both the estimated position and speed errors. Periodic speed errors complicate speed control and degrade the torque compensation performance. In this paper, we propose a wavelet denoising-group method of data handling (GMDH) based method for accurate inductance estimation in PMSM sensorless control systems with periodic load torque compensation. We present a method to analyze and filter the collected three-phase current signals of the PMSM using wavelet transformation and utilize the filtered results as inputs to GMDH for training. Additionally, a method for magnetic saturation compensation using the inductance parameter estimator is proposed to minimize periodic speed fluctuations and improve control accuracy. To replicate the load conditions and parameter variations equivalent to the actual system, experiments were conducted to measure the speed ripples, inductance variations, and torque component of the current. Finally, software simulation was performed to confirm the inductance estimation results and verify the proposed method by simulating load conditions equivalent to the experimental results. Full article

(This article belongs to the Special Issue Advanced Control Systems and Applications)

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21 pages, 692 KiB

Open AccessArticle

Trajectory Tracking of Nonlinear Systems with Convex Input Constraints Based on Tracking Control Lyapunov Functions

by Yasuyuki Satoh

Appl. Sci. 2024, 14(11), 4377; https://doi.org/10.3390/app14114377 - 22 May 2024

Viewed by 461

Abstract

Trajectory tracking control of input-constrained systems is an essential problem in many control applications, including robotics. In this paper, we propose a constrained tracking controller for input affine nonlinear systems with convex input constraints based on tracking control Lyapunov functions (TCLFs). To deal with general convex input constraints, we first solve a convex optimization problem that minimizes the time derivative of TCLFs subject to convex input constraints; we refer to its optimal solution as minimizing input. Then, the proposed trajectory tracking is constructed by using the minimizing input and an appropriate scaling function. We prove that the proposed controller locally achieves trajectory tracking and satisfies the given convex input constraints. Finally, we demonstrate the effectiveness of the proposed controller by numerical simulations of a wheeled mobile robot. Full article

(This article belongs to the Special Issue Advanced Control Systems and Applications)

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14 pages, 297 KiB

Open AccessArticle

H_∞ Control for 2D Singular Continuous Systems

by Mariem Ghamgui, Marwa Elloumi, Moez Allouche and Mohamed Chaabane

Appl. Sci. 2024, 14(10), 4225; https://doi.org/10.3390/app14104225 - 16 May 2024

Viewed by 527

Abstract

This paper considers the problem of admissibility and admissibilization of 2D singular continuous systems described by the Roesser model. A necessary and sufficient admissibility condition is first proposed for 2D singular continuous systems in terms of a strict Linear Matrix Inequality (LMI). Then, a necessary and sufficient condition is established for the closed-loop system to be admissible (i.e., stable, regular, and impulse-free). Moreover, the stability condition is completed to give a sufficient condition to ensure a specified H_∞ disturbance attenuation level for the state feedback closed loop. To illustrate the effectiveness of the proposed methodology, a numerical example is given to illustrate an admissibilization of a state feedback closed-loop system. Full article

(This article belongs to the Special Issue Advanced Control Systems and Applications)

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21 pages, 2647 KiB

Open AccessArticle

Practice-Oriented Controller Design for an Inverse-Response Process: Heuristic Optimization versus Model-Based Approach

by Pavol Bistak, Mikulas Huba and Damir Vrancic

Appl. Sci. 2024, 14(7), 2890; https://doi.org/10.3390/app14072890 - 29 Mar 2024

Cited by 2 | Viewed by 742

Abstract

The proposed practice-oriented controller design (POCD) aims at stabilizing the system, reconstructing and compensating for disturbances while achieving fast and smooth step responses. This is achieved through a simple approach to process identification and controller tuning that takes into account control signal constraints and measurement noise. The proposed method utilizes POCD by eliminating the influence of the unstable zero dynamics of the inverse-response processes, which limits the achievable performance. It extends the previous work on PI and PID controllers to higher-order (HO) automatic reset controllers (ARCs) with low-pass filters. It is also extended according to POCD requirements while maintaining the simplified process model. The final result is an extremely simple design for a constrained controller that provides sufficiently smooth and robust responses to a wide family of HO-ARCs with odd derivatives, designed using integral plus dead time (IPDT) models and tuned by the multiple real dominant pole method (MRDP) and the circle criterion of absolute stability. The proposed design can be considered as a generalization of the Ziegler and Nichols step response method for inverse response processes and HO-ARCs. Full article

(This article belongs to the Special Issue Advanced Control Systems and Applications)

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21 pages, 13661 KiB

Open AccessArticle

Nonlinear Robust Adaptive Control of Universal Manipulators Based on Desired Trajectory

by Yu Chen, Jianwan Ding, Yu Chen and Dong Yan

Appl. Sci. 2024, 14(5), 2219; https://doi.org/10.3390/app14052219 - 6 Mar 2024

Cited by 2 | Viewed by 1122

Abstract

The introduction of a dynamic model in robot trajectory tracking control design can significantly improve its trajectory tracking accuracy, but there are many uncertainties in the robot dynamic model which can be dealt with through robust control and adaptive control. The prevailing robust control as well as adaptive control methods require real-time computation of robot dynamics, but the extreme complexity of the robot dynamics equations makes it difficult to apply these methods in real industrial systems. To this end, this article proposes a robust adaptive control method based on the desired trajectory, which uses the desired trajectory to compute most of the control terms offline, including the robot’s nominal dynamics and regression matrices, and substantially reduces the need for real-time computation of the feedback signals. The robust term modifies the perturbation of the inertial parameters of the links, the adaptive term learns the friction coefficients of the joints online, and an additional compensation term is designed to satisfy the Lyapunov stability condition of the system. Finally, taking a universal manipulator as the experimental platform, the control performances of different control methods are compared to show the feasibility of the controller and the effective reduction in real-time computational complexity. Full article

(This article belongs to the Special Issue Advanced Control Systems and Applications)

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27 pages, 6483 KiB

Open AccessArticle

PD-Based Iterative Learning Control for the Nonlinear Low-Speed-Jitter Vibration of a Wind Turbine in Yaw Motion

by Tingrui Liu and Zhifeng Nie

Appl. Sci. 2024, 14(5), 1750; https://doi.org/10.3390/app14051750 - 21 Feb 2024

Viewed by 938

Abstract

Aiming at the nonlinear low-speed-jitter (LSJ) vibration suppression for a yaw system of a megawatt wind turbine, a kinematics mechanism of the yaw system is investigated from the perspective of tribology, and a kinematics model of the yaw system based on an equilibrium position is established. On the basis of the dynamic modeling of the yaw system, a nonlinear mathematical model of the LSJ system is deduced. Based on the two lead motors’ driving of the conventional yaw motion, an innovative design with a special installation of two auxiliary motors for yaw transmission is carried out, which is integrated with a matching centralized lubrication system (CLS). Based on open-loop proportional-derivative (PD) control and the iterative learning control methods of the time-varying continuous system, the stability control and jitter amplitude suppression of the yaw system are realized by using a combined driving torque provided by the lead and auxiliary gears. From the stability and convergence of the time-domain response and the convergence of the iterative error, the effectiveness of the iterative learning control method with the PD-based regulation is verified, and its advantages for engineering applications are shown based on the algorithm solver improvement. The feasibility of the physical realization and engineering application of the control methodology is verified by using controller-hardware-in-the-loop (C-HITL) simulation technology. Full article

(This article belongs to the Special Issue Advanced Control Systems and Applications)

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20 pages, 2367 KiB

Open AccessArticle

A Novel Model-Free Adaptive Proportional–Integral–Derivative Control Method for Speed-Tracking Systems of Electric Balanced Forklifts

by Jianliang Xu, Zhen Sui, Feng Xu and Yulong Wang

Appl. Sci. 2023, 13(23), 12816; https://doi.org/10.3390/app132312816 - 29 Nov 2023

Cited by 1 | Viewed by 816

Abstract

Similar to many complex systems, the operation process of electric balanced forklifts has characteristics such as time-varying model parameters and nonlinearity. Establishing an accurate mathematical model becomes challenging, making it difficult to apply model-based control methods in engineering practice. Aiming at the longitudinal control system of electric forklifts containing external disturbances, this paper proposes an improved full-format dynamic linearization model-free adaptive PID control (iFFDL-MFA-PID) method. Firstly, the full-format dynamic linearization (FFDL) method is employed to transform the operating system of the electric balanced forklift into a virtual equivalent linear data model. Secondly, the nonlinear residual term and pseudo-gradient (PG) of the data model are estimated using the difference estimation algorithm and the optimal criterion function, respectively. Furthermore, in order to enhance the robustness of the system, the idea of intelligent PID (iPID) is introduced and the principle of equivalent feedback is utilized to derive the iFFDL-MFA-PID control scheme. The design process of this scheme only requires the use of the input and output data of the system, without relying on the mathematical model of the system. Finally, the iFFDL-MFA-PID method proposed in this paper is simulated and tested with the EFG-BC/320 counterbalanced forklift equipped in the Special Equipment Testing Center and compared with the model-free adaptive control method (FFDL-MFAC) and the PID control method. Simulation results show that the speed-tracking error of the electric forklift truck under the action of the iFFDL-MFA-PID algorithm is maintained within ±0.132 m/s throughout the process, achieving higher tracking accuracy and better robustness compared to the MFAC and PID methods. Full article

(This article belongs to the Special Issue Advanced Control Systems and Applications)

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20 pages, 10491 KiB

Open AccessArticle

Deployment of Model-Based-Design-Adaptive Controllers for Monitoring and Control Mechatronic Devices

by Ramon Barber, David R. Rosa, Antonio Flores-Caballero and Santiago Garrido

Appl. Sci. 2023, 13(22), 12432; https://doi.org/10.3390/app132212432 - 17 Nov 2023

Viewed by 1373

Abstract

The modeling and control of complex, non-linear, and time-changing mechatronic systems requires complex software development. They are carried out in the prototyping phase with engineering software development tools, generating models, and control algorithms that are not always easily exportable to control hardware. The following work offers an alternative that considers Model-Based Design using graphics-based languages, which facilitates programming tasks for modeling and controlling mechatronic devices and their transition from prototype to control hardware. Model-Based Design with high abstraction programming level capabilities provides the user with a fast coding and testing environment, suitable for laboratory prototyping and subsequent transfer to commercial embedded controllers. The proposed solution combines control hardware based on an STM32H7 microcontroller and a software development environment using graphics-based languages developed for MATLAB. The result is a solution that integrates control hardware and software in a hardware-in-the-loop paradigm. This solution provides robust and energy-saving controllers and demonstrates that an advanced control algorithm can be set up in a critical safety-compliant low-cost embedded controller via a custom model-based design. Algorithms and tools are transferred to the controller without losing the advantages gained in the prototyping phase. Finally, experimental results implementing an adaptive controller in a DC motor and in a pneumatic system are shown to validate the system. Full article

(This article belongs to the Special Issue Advanced Control Systems and Applications)

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Review

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14 pages, 1476 KiB

Open AccessReview

A Systematic Review and Future Development of Automotive Chassis Control Technology

by Aixi Yang, Yuhui Zang, Liuliu Xu, Lanyou Li and Dapeng Tan

Appl. Sci. 2023, 13(21), 11859; https://doi.org/10.3390/app132111859 - 30 Oct 2023

Viewed by 4558

Abstract

Automotive chassis control technology plays a crucial role in ensuring the stability, performance, and safety of vehicles. This paper reviews and discusses automotive steering/braking/driving/suspension systems from perspectives of system composition, the state of the art, and key technologies. Detailed analysis is conducted on critical techniques related to system fault tolerance, road feel feedback, brake force distribution strategy, electric motors, and motor controllers. The development and application of automotive chassis control technology is in line with the goals and objectives for the advancement of the automotive industry in terms of innovation, safety, and environmental sustainability. Full article

(This article belongs to the Special Issue Advanced Control Systems and Applications)

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