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 Scopus, SCIE (Web of Science), 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 16.5 days after submission; acceptance to publication is undertaken in 1.9 days (median values for papers published in this journal in the first 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
Fault Diagnosis of Unmanned Aerial Systems Using the Dempster–Shafer Evidence Theory
Actuators 2024, 13(7), 264; https://doi.org/10.3390/act13070264 (registering DOI) - 12 Jul 2024
Abstract
Unmanned aerial systems (UASs) find diverse applications across military, civilian, and commercial sectors, including military reconnaissance, aerial photography, environmental monitoring, precision agriculture, logistics, and rescue operations, offering efficient, safe, and cost-effective solutions to various industries. To ensure the stable and reliable operation of
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Unmanned aerial systems (UASs) find diverse applications across military, civilian, and commercial sectors, including military reconnaissance, aerial photography, environmental monitoring, precision agriculture, logistics, and rescue operations, offering efficient, safe, and cost-effective solutions to various industries. To ensure the stable and reliable operation of UASs, fault diagnosis is essential, which can enhance safety, and minimize potential risks and losses. However, most existing fault diagnosis methods rely on a single physical quantity as the primary information source or solely consider fault data at a single moment, leading to challenges of low diagnostic accuracy and limited reliability. Aimed at this problem, this paper presents a fault diagnosis method based on time–space domain weighted information fusion for UASs. First, the Gaussian fault model is constructed for the data with different fault features in the space domain. Next, the weighted coefficient method is used to generate the basic probability assignment (BPA) by matching the fault data with the Gaussian fault model. Then, the Dempster’s combination rule, which enables the Dempster–Shafer (D-S) evidence theory, is adopted to fuse the generated BPAs. Based on this, the pignistic probability transformation is performed to determine the fault type. Finally, numerical results demonstrate the effectiveness of the proposed fault diagnosis method in accurately identifying the fault types of UASs.
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(This article belongs to the Section Aircraft Actuators)
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Open AccessArticle
Design and Test of the Electrical System of the All-Electric Subsea Gate Valve Actuator
by
Honghai Wang, Guiqian Liu, Lai Zhou, Peng Jia and Feihong Yun
Actuators 2024, 13(7), 263; https://doi.org/10.3390/act13070263 - 11 Jul 2024
Abstract
To bridge the gap in the research on the control and drive methods of the key equipment of the new subsea production control system, all-electric subsea gate valve actuator, and to solve the problems of the valve control and drive system in the
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To bridge the gap in the research on the control and drive methods of the key equipment of the new subsea production control system, all-electric subsea gate valve actuator, and to solve the problems of the valve control and drive system in the traditional subsea production system, this paper proposed a full-featured and feasible electrical system of the all-electric subsea gate valve actuator containing the control system and the drive system. The key functions were realized, including status monitoring, redundant communication, redundant power supply, redundant drive, and low-power open-position holding. The electrical system is suitable for monitoring and controlling all-electric subsea gate valve actuators with various specifications and is highly integrated, open, efficient, and real-time. The electrical system prototype was developed and successfully tested for several functions. The results showed that the all-electric subsea gate valve actuator electrical system was capable of controlling and driving the actuator, monitoring the status information of the internal and external environment of the system, as well as the power output information of the drive system, and having redundancy features.
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(This article belongs to the Section Control Systems)
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An Ultrasonic Vibration Scratch Tester for Studying the Scratch Characteristics of Materials under Ultrasonic Vibration Contact Status
by
Yaming Huang, Haoxiang Wu, Yuan Yao, Hongwei Zhao and Hu Huang
Actuators 2024, 13(7), 262; https://doi.org/10.3390/act13070262 - 11 Jul 2024
Abstract
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Ultrasonic vibration-assisted machining is a promising technique for improving the removability of materials, especially for difficult-to-machine materials, but the material removal mechanism under ultrasonic vibration status is still far from clear. Scratch testing is generally employed to study the material removal mechanism, but
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Ultrasonic vibration-assisted machining is a promising technique for improving the removability of materials, especially for difficult-to-machine materials, but the material removal mechanism under ultrasonic vibration status is still far from clear. Scratch testing is generally employed to study the material removal mechanism, but currently, there is a lack of instruments capable of performing scratch testing under ultrasonic vibration. To address this gap, this study developed an ultrasonic vibration scratch tester that can perform quantitative ultrasonic vibration-assisted scratch (UVAS) testing of materials. A prototype was designed and fabricated, followed by characterizing its performance parameters. Comparative experiments of conventional scratch (CS) testing and UVAS testing were performed on AL1050 to investigate the effects of ultrasonic vibration on scratch characteristics, such as the scratch depth and coefficient of friction. It was found that compared to CS testing, UVAS testing, with an amplitude of 1.45 µm and a frequency of 20 kHz, achieved a maximum reduction in the coefficient of friction of approximately 22.5% and a maximum increase in the depth of the residual scratch of approximately 175%. These findings confirm the superiority of ultrasonic vibration-assisted machining and demonstrate the requirement for the development of ultrasonic vibration scratch testers.
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Open AccessArticle
Properties Analysis of Hydraulic PTO Output Fluctuation Regulating Based on Accumulator
by
Han Jia, Zhongcai Pei, Zhiyong Tang and Meng Li
Actuators 2024, 13(7), 261; https://doi.org/10.3390/act13070261 - 11 Jul 2024
Abstract
Hydraulic power take-off (PTO) is increasingly favored as energy regulation and transmission system in wave energy converters (WEC), significantly smoothing the inherent randomness and fluctuation of wave energy. This paper designed a novel hydraulic PTO system composition of a double-acting hydraulic cylinder pump
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Hydraulic power take-off (PTO) is increasingly favored as energy regulation and transmission system in wave energy converters (WEC), significantly smoothing the inherent randomness and fluctuation of wave energy. This paper designed a novel hydraulic PTO system composition of a double-acting hydraulic cylinder pump and accumulators. The dynamic process sub-division principle in an operating period of the hydraulic cylinder pump and accumulator and the mathematical model for explaining the fluctuations of pressure and flow rate in the hydraulic pump and accumulator circuit by means of the sub-division principle are put forward. The MATLAB/Simulink simulation model used to analyze pressure fluctuation in the hydraulic PTO system is established based on the mathematical model. The numerical results and MATLAB simulation results are mutually verified about the fine analysis of the accumulator smoothing fluctuation in the hydraulic PTO system. The results show that the pressure fluctuation amplitude of a hydraulic circuit is negatively correlated with the accumulator pre-charge pressure and the accumulator volume, and is positively correlated with the operating period of a hydraulic pump. The energy transfer efficiency of the hydraulic PTO system with accumulator fine compensation can be above 90%. The theory and model in this paper will serve as a valuable reference for designing fluctuation compensation parameters in hydraulic systems.
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(This article belongs to the Section Aircraft Actuators)
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Leveraging Cooperative Intent and Actuator Constraints for Safe Trajectory Planning of Autonomous Vehicles in Uncertain Traffic Scenarios
by
Yuquan Zhu, Juntong Lv and Qingchao Liu
Actuators 2024, 13(7), 260; https://doi.org/10.3390/act13070260 - 10 Jul 2024
Abstract
This study explores the integration of dynamic vehicle trajectories, vehicle safety factors, static traffic environments, and actuator constraints to improve cooperative intent modeling for autonomous vehicles (AVs) navigating uncertain traffic scenarios. Existing models often focus solely on interactions between dynamic trajectories, limiting their
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This study explores the integration of dynamic vehicle trajectories, vehicle safety factors, static traffic environments, and actuator constraints to improve cooperative intent modeling for autonomous vehicles (AVs) navigating uncertain traffic scenarios. Existing models often focus solely on interactions between dynamic trajectories, limiting their ability to fully interpret the intentions of surrounding vehicles. To address this limitation, we present a more comprehensive approach using the Cooperative Intent Multi-Layer Graph Neural Network (CMGNN) model. The CMGNN analyzes not only the dynamic trajectories but also the lane position relationships, vehicle angle changes, and actuator constraints and performs group interaction analysis. This richer information allows the CMGNN to more accurately capture the cooperative intent and better understand the surrounding vehicle behavior. This study investigated the impact of the CMGNN in the Carla simulator on surrounding vehicle trajectory prediction and AV safe trajectory planning. An innovative mechanism for dynamic trajectory risk assessment is introduced, which takes into account the constraints of the actuators when evaluating trajectory planning metrics. The results show that incorporating cooperative intent and considering the actuator limitations enhanced the CMGNN’s safety and driving efficiency in uncertain scenarios, significantly reducing the probability of AVs colliding. This is achieved as the model dynamically adapts its driving strategy based on the real-time traffic conditions, the perceived intentions of the surrounding vehicles, and the physical constraints of the vehicle actuators.
Full article
(This article belongs to the Special Issue Actuator Fault Diagnosis, State Detection and Fault Tolerant Control for Ground and Rail Vehicles)
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Open AccessArticle
Adaptive Fuzzy Fault-Tolerant Attitude Control for a Hypersonic Gliding Vehicle: A Policy-Iteration Approach
by
Meijie Liu, Changhua Hu, Hong Pei, Hongzeng Li and Xiaoxiang Hu
Actuators 2024, 13(7), 259; https://doi.org/10.3390/act13070259 - 9 Jul 2024
Abstract
In this paper, adaptive fuzzy fault-tolerant control (AFFTC) for the attitude control system of a hypersonic gliding vehicle (HGV) experiencing an actuator fault is proposed. Actuator faults of the HGV are considered with respect to its actual structure and actuator characteristics. The HGV’s
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In this paper, adaptive fuzzy fault-tolerant control (AFFTC) for the attitude control system of a hypersonic gliding vehicle (HGV) experiencing an actuator fault is proposed. Actuator faults of the HGV are considered with respect to its actual structure and actuator characteristics. The HGV’s attitude system is firstly represented by a T–S fuzzy model, and then a normal T–S fuzzy controller is designed. A reinforcement learning (RL)-based policy iterative solution algorithm is proposed for the solving of the T-S fuzzy controller. Then, based on the normal T–S controller, a fuzzy FTC controller is proposed in which the control matrices can improve themselves according to the special fault. An integral reinforcement learning (IRL)-based solving algorithm is proposed to reduce the dependence of the design methods on the HGV model. Simulations on three different kinds of actuator faults show that the designed IRL-based FTC can ensure a reliable flight by the HGV.
Full article
(This article belongs to the Section Control Systems)
Open AccessArticle
L1 Adaptive Fault-Tolerant Control for Nonlinear Systems Subject to Input Constraint and Multiple Faults
by
Yan Zhou, Huiying Liu and Huijuan Guo
Actuators 2024, 13(7), 258; https://doi.org/10.3390/act13070258 - 9 Jul 2024
Abstract
This paper investigates an L1 adaptive fault-tolerant control scheme for nonlinear systems with input constraint, external disturbances, and multiple faults, which include actuator faults and sensor faults. Faults and input constraint are important factors that affect the stability and performance of a control
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This paper investigates an L1 adaptive fault-tolerant control scheme for nonlinear systems with input constraint, external disturbances, and multiple faults, which include actuator faults and sensor faults. Faults and input constraint are important factors that affect the stability and performance of a control system. Actuators and sensors are the most vulnerable components, with the former receiving more attention in comparison. In this paper, sensor faults are first transformed into pseudo-actuator faults through the augmented matrix approach, which facilitates their handling together with actuator faults. Saturation constraints on the control signal are not conducive to the design of the controller. The conversion of an input-saturated function to a time-varying linear system is completed based on function approximation and Lagrange’s mean value theorem. Moreover, a nonlinear system with unknown input gain and uncertainties is constructed using these methods. Next, an L1 adaptive fault-tolerant controller is designed to cope with uncertainties, including system uncertainties, external disturbances, faults, and approximation errors. In the L1 adaptive controller, the online estimation of the time-varying parameters allows for updating of the system state, while the combination of the two is transmitted to the control law such that it can compensate for the effects of the uncertainties. The stability and performance boundaries are further derived using the Lyapunov theory and the L1 reference system. Finally, simulations are carried out to demonstrate the effectiveness of the proposed controller.
Full article
(This article belongs to the Special Issue Intelligent Sensing, Control and Actuation in Networked Systems)
Open AccessTechnical Note
Calibration to Differentiate Power Output by the Manual Wheelchair User from the Pushrim-Activated Power-Assisted Wheel on a Force-Instrumented Computer-Controlled Wheelchair Ergometer
by
Jelmer Braaksma, Enrico Ferlinghetti, Sonja de Groot, Matteo Lancini, Han Houdijk and Riemer J. K. Vegter
Actuators 2024, 13(7), 257; https://doi.org/10.3390/act13070257 - 9 Jul 2024
Abstract
To examine the biomechanical demands of manual wheelchair propulsion, it is crucial to determine the wheelchair user’s (WCU) force for propulsion technique parameter calculation. When using a pushrim-activated power-assisted wheelchair (PAPAW) on a wheelchair ergometer, a combined propulsion force from the WCU and
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To examine the biomechanical demands of manual wheelchair propulsion, it is crucial to determine the wheelchair user’s (WCU) force for propulsion technique parameter calculation. When using a pushrim-activated power-assisted wheelchair (PAPAW) on a wheelchair ergometer, a combined propulsion force from the WCU and PAPAW is exerted. To understand PAPAW’s assistance and distinguish the WCU’s force application from the force exerted by the PAPAW, both propulsion components must be assessed separately. In this study, a calibration of the PAPAW on an ergometer was developed to achieve this separation. The calibration consists of five steps: (I) Collecting data on force and velocity measured from the ergometer, along with electrical current and velocity from the PAPAW. (II) Synchronizing the velocity signals of the wheelchair ergometer and PAPAW using cross-correlation. (III) Calibrating the PAPAW’s electromotors to convert electrical current (mA) to force (N). A product-specific motor constant of 0.30, provided an average ICC of 0.563, indicating a moderate agreement between the raw ergometer data (N) and the motor constant-converted drive-rim (PAPAW) data (from mA to N). (IV) Subtracting the PAPAW’s force signal from the ergometer’s measured force to isolate forces generated by the WCU. (V) Using markerless motion capture to determine and validate the phase of hand contact with the handrim. This technical note provides an example of PAPAW calibration for researchers and clinicians. It emphasizes the importance of integrating this calibration into the development of PAPAW devices to reveal the complex interaction between PAPAW and WCU during wheelchair propulsion.
Full article
(This article belongs to the Special Issue Rehabilitation Robots and Assistive Devices: A Special Issue in Honor of Prof. Dr. Rory A. Cooper)
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Trajectory Synthesis and Linkage Design of Single-Degree-of-Freedom Finger Rehabilitation Device
by
Ping Zhao, Yang Wang, Yating Zhang and Yong Wang
Actuators 2024, 13(7), 256; https://doi.org/10.3390/act13070256 - 6 Jul 2024
Abstract
For injured and after-stroke patients who temporarily lose their hand’s grasping abilities, assisting them in regaining their index finger mobility is very important in the rehabilitation process. In this paper, a finger rehabilitation device based on one degree-of-freedom (DOF) linkage mechanism is designed,
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For injured and after-stroke patients who temporarily lose their hand’s grasping abilities, assisting them in regaining their index finger mobility is very important in the rehabilitation process. In this paper, a finger rehabilitation device based on one degree-of-freedom (DOF) linkage mechanism is designed, aiming to lead the index finger through the flexion–extension trajectory during grasping tasks. Two types of one-DOF mechanisms, a four-bar linkage and a Watt-I six-bar linkage, are synthesized for the task trajectory. Various algorithms such as PSO, GA, and GA–BFGS are adopted and compared for the synthesis of these two types of mechanisms, among which the Watt-I six-bar linkage obtained with GA–BFGS shows the optimal performance in accuracy. Clinical biomechanical data are utilized to perform static analyses of the mechanisms, and the feasibility of the Watt-I six-bar linkage models is tested, compared, and demonstrated. Finally, the prototype of the six-bar linkage as well as a wearable exoskeleton finger rehabilitation device are designed to show how they are applied in the finger rehabilitation scenario.
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(This article belongs to the Special Issue Actuators in 2024)
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Optimization Comparison of Torque Performance of Axial-Flux Permanent-Magnet Motor Using Differential Evolution and Cuckoo Search
by
Wei Ge, Yiming Xiao, Feng Cui, Xiaosheng Wu and Wu Liu
Actuators 2024, 13(7), 255; https://doi.org/10.3390/act13070255 - 4 Jul 2024
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To improve the torque performance of the axial-flux permanent-magnet motor (AFPMM), differential evolution (DE) and cuckoo search (CS) are proposed for optimizing the motor’s structural parameters. The object of this research is an AFPMM with a single-rotor and double-stator configuration. Firstly, finite element
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To improve the torque performance of the axial-flux permanent-magnet motor (AFPMM), differential evolution (DE) and cuckoo search (CS) are proposed for optimizing the motor’s structural parameters. The object of this research is an AFPMM with a single-rotor and double-stator configuration. Firstly, finite element analysis (FEA) and BP neural network machine learning (ML) were combined to obtain an ML calculator. This calculator is about the relationships between five input structural parameters of the motor and two output torque parameters (i.e., average torque and cogging torque). Then, an optimization objective function was designed to reduce the cogging torque while increasing the average output torque. And motor structural parameters were optimized using the DE and CS algorithms, respectively. Finally, air-gap flux density, average torque, cogging torque, and ripple torque before and after the optimization of the motor structure parameters are compared by FEA. The results show that both algorithms achieved almost the same optimized structural parameters. And the optimized motor has reduced cogging torque while increasing the average output torque and reducing the ripple torque. Compared with the CS, the DE is more advantageous in terms of faster iteration speed, shorter time to obtain the optimal solution, and less resource consumption.
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Open AccessArticle
JVC-02 Teleoperated Robot: Design, Implementation, and Validation for Assistance in Real Explosive Ordnance Disposal Missions
by
Luis F. Canaza Ccari, Ronald Adrian Ali, Erick Valdeiglesias Flores, Nicolás O. Medina Chilo, Erasmo Sulla Espinoza, Yuri Silva Vidal and Lizardo Pari
Actuators 2024, 13(7), 254; https://doi.org/10.3390/act13070254 - 2 Jul 2024
Abstract
Explosive ordnance disposal (EOD) operations are hazardous due to the volatile and sensitive nature of these devices. EOD robots have improved these tasks, but their high cost limits accessibility for security institutions that do not have sufficient funds. This article presents the design,
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Explosive ordnance disposal (EOD) operations are hazardous due to the volatile and sensitive nature of these devices. EOD robots have improved these tasks, but their high cost limits accessibility for security institutions that do not have sufficient funds. This article presents the design, implementation, and validation of a low-cost EOD robot named JVC-02, specifically designed for use in explosive hazardous environments to safeguard the safety of police officers of the Explosives Disposal Unit (UDEX) of Arequipa, Peru. To achieve this goal, the essential requirements for this type of robot were compiled, referencing the capabilities of Rescue Robots from RoboCup. Additionally, the Quality Function Deployment (QFD) methodology was used to identify the needs and requirements of UDEX police officers. Based on this information, a modular approach to robot design was developed, utilizing commercial off-the-shelf components to facilitate maintenance and repair. The JVC-02 was integrated with a 5-DoF manipulator and a two-finger mechanical gripper to perform dexterity tasks, along with a tracked locomotion mechanism, which enables effective movement, and a three-camera vision system to facilitate exploration tasks. Finally, field tests were conducted in real scenarios to evaluate and experimentally validate the capabilities of the JVC-02 robot, assessing its mobility, dexterity, and exploration skills. Additionally, real EOD missions were carried out in which UDEX agents intervened and controlled the robot. The results demonstrate that the JVC-02 robot possesses strong capabilities for real EOD applications, excelling in intuitive operation, low cost, and ease of maintenance.
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(This article belongs to the Section Actuators for Robotics)
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Open AccessArticle
Fault Detection of Multi-Wheeled Robot Consensus Based on EKF
by
Afrah Jouili, Boumedyen Boussaid, Ahmed Zouinkhi and M. N. Abdelkrim
Actuators 2024, 13(7), 253; https://doi.org/10.3390/act13070253 - 1 Jul 2024
Abstract
Synchronizing a network of robots in consensus is an important task for cooperative work. Detecting faults in a network of robots in consensus is a much more important task. In considering a formation of Wheeled Mobile Robots (WMRs) in a master–slave architecture modeled
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Synchronizing a network of robots in consensus is an important task for cooperative work. Detecting faults in a network of robots in consensus is a much more important task. In considering a formation of Wheeled Mobile Robots (WMRs) in a master–slave architecture modeled by graph theory, the main objective of this study was to detect and isolate a fault that appears on a robot of this formation in order to remove it from the formation and continue the execution of the assigned task. In this context, we exploit the extended Kalman filter (EKF) to estimate the state of each robot, generate a residual, and deduce whether a fault exists. The implementation of this technique was proven using a Matlab simulator.
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(This article belongs to the Special Issue Actuators in Robotic Control: Volume II)
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Fixed-Time Adaptive Neural Network-Based Trajectory Tracking Control for Workspace Manipulators
by
Xiaofei Chen, Han Zhao, Shengchao Zhen, Xiaoxiao Liu and Jinsi Zhang
Actuators 2024, 13(7), 252; https://doi.org/10.3390/act13070252 - 1 Jul 2024
Abstract
This paper proposes a novel neural network-based control algorithm with fixed-time performance constraints for manipulator systems in workspaces. The algorithm efficiently controls the manipulator’s trajectory tracking by tuning a preset performance function, thereby optimizing both speed and accuracy within a fixed timeframe. Initially,
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This paper proposes a novel neural network-based control algorithm with fixed-time performance constraints for manipulator systems in workspaces. The algorithm efficiently controls the manipulator’s trajectory tracking by tuning a preset performance function, thereby optimizing both speed and accuracy within a fixed timeframe. Initially, a tangent-type error transformation, applied through homogeneous embryonic transformation, ensures rapid convergence of tracking errors to a specific region. Subsequently, integrating a predetermined control strategy into the fixed-time stability framework ensures the system’s state reaches a defined boundary within a finite period. Lastly, neural networks are employed to approximate dynamic parameters and adjust the controller, achieving optimal parameter approximation and significantly enhancing trajectory tracking robustness. Simulation analyses and comparisons confirm the controller’s effectiveness and superiority in enhancing both the transient and steady-state performance of the control system.
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(This article belongs to the Section Actuators for Robotics)
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Open AccessArticle
Traffic Signal Control Optimization Based on Neural Network in the Framework of Model Predictive Control
by
Dapeng Tang and Yuzhou Duan
Actuators 2024, 13(7), 251; https://doi.org/10.3390/act13070251 - 1 Jul 2024
Abstract
To improve the effectiveness of model predictive control (MPC) in dynamic traffic signal control strategies, it has been combined with graph convolutional networks (GCNs) and deep reinforcement learning (DRL) technologies. In this study, a neural-network-based traffic signal control optimization method under the MPC
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To improve the effectiveness of model predictive control (MPC) in dynamic traffic signal control strategies, it has been combined with graph convolutional networks (GCNs) and deep reinforcement learning (DRL) technologies. In this study, a neural-network-based traffic signal control optimization method under the MPC framework is proposed. A dynamic correlation matrix is introduced in the predictive model to adapt to the dynamic changes in correlations between nodes over time. The signal control optimization strategy is solved using DRL, where the agent explores the optimal control strategy based on pre-set constraints in the future road environment. The geometric structure and traffic flow data of a real intersection were selected as the simulation validation environment, and a joint simulation was conducted using Python and SUMO. The experimental results indicate that in low-traffic scenarios, the queue length is reduced by more than 2 vehicles compared to the selected comparison methods; in high-traffic scenarios, the queue length is reduced by an average of 17 vehicles. Under the actual traffic data of the intersection, the average speed is increased by 6.4% compared to the fixed timing method; compared to the inductive signal control method, it increases from 9.76 m/s to 11.69 m/s, an improvement of 19.7%, effectively enhancing the intersection signal control performance.
Full article
(This article belongs to the Special Issue AI, Designing, Sensing, Instrumentation, Diagnosis, Controlling, and Integration of Actuators in Digital Manufacturing—Volume II)
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Open AccessArticle
A Semi-Global Finite-Time Decentralized Control Method for High-Order Large-Scale Nonlinear Systems
by
Ziwen Jiang, Hanwen Zhang and Lingrong Xue
Actuators 2024, 13(7), 250; https://doi.org/10.3390/act13070250 - 30 Jun 2024
Abstract
This study focuses on the decentralized stabilization issue of high-order large-scale nonlinear systems with unknown disturbances. A novel decentralized semi-global finite-time control approach is suggested by constructing a Lyapunov function with both quadratic and higher-order components and employing the method of homogeneous domination.
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This study focuses on the decentralized stabilization issue of high-order large-scale nonlinear systems with unknown disturbances. A novel decentralized semi-global finite-time control approach is suggested by constructing a Lyapunov function with both quadratic and higher-order components and employing the method of homogeneous domination. Based on the designed Lyapunov function, a state-feedback controller is constructed for the nominal system. Subsequently, the scaling gain is flexibly introduced to enable semi-globally finite-time stabilization of the nonlinear system. Besides, the approach is extended to the problem of decentralized tracking control of high-order large-scale nonlinear systems. Finally, numerical and practical examples validate the effectiveness of the presented control strategy.
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(This article belongs to the Section Control Systems)
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Open AccessArticle
Research on Additive Manufacturing Path Planning of a Six-Degree-of-Freedom Manipulator
by
Xingguo Han, Xuan Liu, Gaofei Wu, Xiaohui Song and Lixiu Cui
Actuators 2024, 13(7), 249; https://doi.org/10.3390/act13070249 - 30 Jun 2024
Abstract
The research on additive manufacturing (AM) path planning mainly focuses on the traditional three-axis AM path planning and five-degree-of-freedom (DOF) AM path planning, while there is less research on six-DOF AM path planning. In the traditional AM path planning algorithm, the filling path
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The research on additive manufacturing (AM) path planning mainly focuses on the traditional three-axis AM path planning and five-degree-of-freedom (DOF) AM path planning, while there is less research on six-DOF AM path planning. In the traditional AM path planning algorithm, the filling path is discontinuous and there is long straight-line printing in a certain direction, which can easily lead to warpage deformation. Therefore, in this work, the six-DOF manipulator is taken as the main object to build an AM platform, and the mechanism of AM path planning of the manipulator is studied. The path planning algorithm combining the contour offset filling method and Hilbert curve filling is optimized by using a cubic uniform B-spline curve, and an AM path planning algorithm suitable for a six-DOF manipulator is obtained. A continuous printing path can be generated by this algorithm. It reduces the existence of long straight-line printing in a certain direction, thereby reducing the warpage deformation of the model and improving the molding quality of the model. The traditional three-axis AM device and the six-DOF AM platform were used to print two kinds of models. By comparing the printing time, the six-DOF AM platform was 43.70% and 37.94% shorter than the traditional three-axis AM device. The same model was printed on a six-DOF AM platform by using the parallel scanning filling method, the path planning algorithm combining contour offset and Hilbert curve, and the method proposed in this paper. Through experimental verification, the average warpage deformation of the model printed by the method proposed in this paper was reduced by 37.81% and 13.79%, respectively, compared with the other two methods.
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(This article belongs to the Section Control Systems)
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Open AccessArticle
Design of a Novel Three-Degree-of-Freedom Piezoelectric-Driven Micro-Positioning Platform with Compact Structure
by
Chuan Zhao, Zhenlong Li, Fangchao Xu, Hongkui Zhang, Feng Sun, Junjie Jin, Xiaoyou Zhang and Lijian Yang
Actuators 2024, 13(7), 248; https://doi.org/10.3390/act13070248 - 28 Jun 2024
Abstract
In this paper, a novel three-degree-of-freedom piezoelectric-driven micro-positioning platform based on a lever combination compound bridge-type displacement amplification mechanism is proposed. The micro-positioning platform proposed in this paper aims to solve the current problem of the large size and small travel of the
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In this paper, a novel three-degree-of-freedom piezoelectric-driven micro-positioning platform based on a lever combination compound bridge-type displacement amplification mechanism is proposed. The micro-positioning platform proposed in this paper aims to solve the current problem of the large size and small travel of the three-degree-of-freedom piezoelectric-driven micro-positioning platform. In this paper, a lever combination compound bridge-type displacement amplification mechanism combined with a new biaxial flexible hinge is proposed, the structural dimensions of the lever mechanism and the compound bridge mechanism are optimized, and the amplification multiplier is determined. The maximum output simulation analysis of the micro-positioning platform is carried out by using ANSYS, and the experimental test system is built for verification. The validation results show that the maximum errors between simulation and experiment in the z-direction, rotation direction around x, and rotation direction around y are 64 μm, 0.016°, and 0.038°, respectively, and the corresponding maximum relative errors are 5.6%, 2.4%, and 6.6%, respectively, which proves the feasibility of the theoretical design.
Full article
(This article belongs to the Section Precision Actuators)
Open AccessArticle
A Steady-Pressure Control Method for Emulsion Pump Station Based on Online Updating of Optimal Flow Rate
by
Peng Xu, Ziming Kou, Juan Wu, Tengyan Hou, Yanwei Peng and Buwen Zhang
Actuators 2024, 13(7), 247; https://doi.org/10.3390/act13070247 - 28 Jun 2024
Abstract
In order to solve the problem of unstable fluid supply pressure and serious impact caused by the complicated and changeable working condition of a fully mechanized mining face in coal mines and the sluggish response of the fluid supply system to the fluid
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In order to solve the problem of unstable fluid supply pressure and serious impact caused by the complicated and changeable working condition of a fully mechanized mining face in coal mines and the sluggish response of the fluid supply system to the fluid demand for the hydraulic support, a control method based on online updating generalized regression neural network (GRNN) was proposed. Firstly, the simulated hydraulic support test platform and co-simulation model were built. Secondly, The optimal flow dataset of steady-pressure fluid supply under different working conditions is calculated by simulation. Furthermore, the GRNN prediction model was established by using dataset and online updating learning technology to predict the optimal fluid supply flow according to environmental parameters. Finally, the optimal flow control method of online updating GRNN was established, and numerical research and experimental verification were also carried out in different working conditions. The results indicated that the proposed control method could track the working conditions of the working face in real time and adjusted the fluid supply flow of the emulsion pump station adaptively, which effectively alleviated the pressure fluctuation and pressure shock, and the system pressure was more stable, meeting the demand of steady-pressure fluid supply on the working face.
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(This article belongs to the Special Issue Active Flow Control: Recent Advances in Fundamentals and Applications — Volume II)
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Open AccessArticle
Research on Micro-/Nano-Positioning System Driven by a Stepper Motor
by
Minjie Liu, Yangyang Yu, Liangyu Cui, Ning Ji and Xiaofan Deng
Actuators 2024, 13(7), 246; https://doi.org/10.3390/act13070246 - 28 Jun 2024
Abstract
To achieve cost-effective micro-/nano-displacement adjustment, this paper integrates the advantages of flexible hinge micro-/nano-displacement transmission. A linear stepper motor is utilized as the driving component to design and develop a high-precision, low-cost micro-/nano-positioning system. The structure, design, and working principles of the micro-/nano-positioning
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To achieve cost-effective micro-/nano-displacement adjustment, this paper integrates the advantages of flexible hinge micro-/nano-displacement transmission. A linear stepper motor is utilized as the driving component to design and develop a high-precision, low-cost micro-/nano-positioning system. The structure, design, and working principles of the micro-/nano-positioning platform are introduced. The scaling factor model between micro-positioning platforms and nano-positioning platforms is analyzed. Static and dynamic models of flexible mechanisms have been established. The dimensions of the mechanical structure and the selection of motors are determined. The mechanical characteristics of the micro-/nano-positioning platform are validated through finite element analysis. To address the characteristic of increasing loads during the transmission process, an intelligent control system based on current feedback is designed and developed. The integration of drive and control provides a high level of system integration. Finally, experimental calibration was conducted to test the motion characteristics of the linear stepper motor-driven micro-/nano-positioning platform. It achieved a minimum displacement control resolution of 100 nm and demonstrated a certain level of stability.
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(This article belongs to the Special Issue Recent Developments in Precision Actuation Technologies)
Open AccessArticle
Cooperative Integrated Guidance and Control for Active Target Protection in Three-Player Conflict
by
Xiaopeng Gong, Wanchun Chen and Zhongyuan Chen
Actuators 2024, 13(7), 245; https://doi.org/10.3390/act13070245 - 28 Jun 2024
Abstract
This paper addresses the active target protection problem in a three-player (Target–Attacker–Defender, TAD) conflict by proposing a cooperative integrated guidance and control (IGC) strategy. Unlike previous studies that have designed guidance and control loops separately, this work establishes an IGC model by linearizing
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This paper addresses the active target protection problem in a three-player (Target–Attacker–Defender, TAD) conflict by proposing a cooperative integrated guidance and control (IGC) strategy. Unlike previous studies that have designed guidance and control loops separately, this work establishes an IGC model by linearizing both the translational motion and the rotational motion of the vehicles, thereby generating actuator commands directly. This model integrates the kinematics and short-period dynamics, providing a more comprehensive and accurate representation of the vehicles’ characteristics. Based on the linearization and order reduction, differential game theory and the sweep method are employed to derive and analytically solve the Riccati differential equation, yielding an optimal control strategy with an explicit expression. The theoretical rigor of the proposed approach is ensured through a proof of optimality sufficiency. Furthermore, factors influencing the computational accuracy of the Riccati equation solution, including the singular values of the control matrix and condition numbers of the solution matrix, are analyzed. Taking into account the dynamic response and limitations of the actuators, numerical simulations demonstrate the effectiveness and superiority of the proposed IGC strategy in intercepting the attacker and protecting the target compared to traditional separated guidance and control designs.
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(This article belongs to the Special Issue Dynamics and Control of Aerospace Systems)
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