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
Traffic Signal Control Optimization Based on Neural Network in the Framework of Model Predictive Control
Actuators 2024, 13(7), 251; https://doi.org/10.3390/act13070251 (registering DOI) - 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
[...] Read more.
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)
►
Show Figures
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 (registering DOI) - 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.
[...] Read more.
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.
Full article
(This article belongs to the Section Control Systems)
Open AccessArticle
Research on Additive Manufacturing Path Planning of a Six-Degree-of-Freedom Manipulator
by
**ngguo Han, Xuan Liu, Gaofei Wu, **aohui Song and Lixiu Cui
Actuators 2024, 13(7), 249; https://doi.org/10.3390/act13070249 (registering DOI) - 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
[...] Read more.
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.
Full article
(This article belongs to the Section Control Systems)
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 **, **aoyou Zhang and Lijian Yang
Actuators 2024, 13(7), 248; https://doi.org/10.3390/act13070248 (registering DOI) - 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
[...] Read more.
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 (registering DOI) - 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
[...] Read more.
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.
Full article
(This article belongs to the Special Issue Active Flow Control: Recent Advances in Fundamentals and Applications — Volume II)
Open AccessArticle
Research on Micro-/Nano-Positioning System Driven by a Stepper Motor
by
Minjie Liu, Yangyang Yu, Liangyu Cui, Ning Ji and **aofan Deng
Actuators 2024, 13(7), 246; https://doi.org/10.3390/act13070246 (registering DOI) - 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
[...] Read more.
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.
Full article
(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
**aopeng 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
[...] Read more.
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.
Full article
(This article belongs to the Special Issue Dynamics and Control of Aerospace Systems)
►▼
Show Figures
![](https://pub.mdpi-res.com/actuators/actuators-13-00245/article_deploy/html/images/actuators-13-00245-g001-550.jpg?1719566065)
Figure 1
Open AccessArticle
Integration of Virtual Reality-Enhanced Motor Imagery and Brain-Computer Interface for a Lower-Limb Rehabilitation Exoskeleton Robot
by
Chih-Jer Lin and Ting-Yi Sie
Actuators 2024, 13(7), 244; https://doi.org/10.3390/act13070244 - 28 Jun 2024
Abstract
In this study, we integrated virtual reality (VR) goggles and a motor imagery (MI) brain-computer interface (BCI) algorithm with a lower-limb rehabilitation exoskeleton robot (LLRER) system. The MI-BCI system was integrated with the VR goggles to identify the intention classification system. The VR
[...] Read more.
In this study, we integrated virtual reality (VR) goggles and a motor imagery (MI) brain-computer interface (BCI) algorithm with a lower-limb rehabilitation exoskeleton robot (LLRER) system. The MI-BCI system was integrated with the VR goggles to identify the intention classification system. The VR goggles enhanced the immersive experience of the subjects during data collection. The VR-enhanced electroencephalography (EEG) classification model of a seated subject was directly applied to the rehabilitation of the LLRER wearer. The experimental results showed that the VR goggles had a positive effect on the classification accuracy of MI-BCI. The best results were obtained with subjects in a seated position wearing VR, but the seated VR classification model cannot be directly applied to rehabilitation triggers in the LLRER. There were a number of confounding factors that needed to be overcome. This study proposes a cumulative distribution function (CDF) auto-leveling method that can apply the seated VR model to standing subjects wearing exoskeletons. The classification model of seated VR had an accuracy of 75.35% in the open-loop test of the LLRER, and the accuracy of correctly triggering the rehabilitation action in the closed-loop gait rehabilitation of LLRER was 74%. Preliminary findings regarding the development of a closed-loop gait rehabilitation system activated by MI-BCI were presented.
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)
►▼
Show Figures
![](https://pub.mdpi-res.com/actuators/actuators-13-00244/article_deploy/html/images/actuators-13-00244-g001-550.jpg?1719561500)
Figure 1
Open AccessArticle
Optimization Design of Permanent Magnet Synchronous Motor Based on Multi-Objective Artificial Hummingbird Algorithm
by
Shaoru Zhang, Hui Yan, Likun Yang, Hua Zhao, **uju Du and Jielu Zhang
Actuators 2024, 13(7), 243; https://doi.org/10.3390/act13070243 - 27 Jun 2024
Abstract
The interior permanent magnet synchronous motor (IPMSM) is known for its high output torque, strong overload capacity, and high power density, making it a popular choice in the electric vehicle industry. This paper proposes an improved multi-objective artificial hummingbird algorithm that combines chaotic
[...] Read more.
The interior permanent magnet synchronous motor (IPMSM) is known for its high output torque, strong overload capacity, and high power density, making it a popular choice in the electric vehicle industry. This paper proposes an improved multi-objective artificial hummingbird algorithm that combines chaotic map**, adaptive weights, and dynamic crowding entropy. An optimization strategy that combines the Taguchi method with the Improved Multi-Objective Artificial Hummingbird Algorithm (IMOAHA), is proposed to minimize torque ripple and back electromotive force in the interior permanent magnet synchronous motor while simultaneously increasing the average torque of the motor. Taking the 8-pole 48-slot interior permanent magnet synchronous motor as an example, the optimization objectives include back electromotive force, average torque, and torque ripple. The rotor-related structural parameters are used as optimization variables. First, the Taguchi method is employed to identify parameters that significantly influence the optimization objectives. Subsequently, response surface fitting is used to establish the relationship between the optimization objectives and parameters. Finally, the multi-objective artificial hummingbird algorithm is utilized for optimization. By comparing the finite element analysis of the motor models before and after optimization, it is evident that the improved multi-objective artificial hummingbird algorithm can effectively enhance the performance of the interior permanent magnet synchronous motor.
Full article
Open AccessArticle
Hybrid Control of Soft Robotic Manipulator
by
Arnau Garriga-Casanovas, Fahim Shakib, Varell Ferrandy and Enrico Franco
Actuators 2024, 13(7), 242; https://doi.org/10.3390/act13070242 - 27 Jun 2024
Abstract
Soft robotic manipulators consisting of serially stacked segments combine actuation and structure in an integrated design. This design can be miniaturised while providing suitable actuation for potential applications that may include endoluminal surgery and inspections in confined environments. The control of these robots,
[...] Read more.
Soft robotic manipulators consisting of serially stacked segments combine actuation and structure in an integrated design. This design can be miniaturised while providing suitable actuation for potential applications that may include endoluminal surgery and inspections in confined environments. The control of these robots, however, remains challenging, due to the difficulty in accurately modelling the robots, in co** with their redundancies, and in solving their full inverse kinematics. In this work, we explore a hybrid approach to control serial soft robotic manipulators that combines machine learning (ML) to estimate the inverse kinematics with closed-loop control to compensate for the remaining errors. For the ML part, we compare various approaches, including both kernel-based learning and more general neural networks. We validate the selected ML model experimentally. For the closed-loop control part, we first explore Jacobian formulations using both synthetic models and numerical approximations from experimental data. We then implement integral control actions using both these Jacobians, and evaluate them experimentally. In an experimental validation, we demonstrate that the hybrid control approach achieves setpoint regulation in a robot with six inputs and four outputs.
Full article
(This article belongs to the Special Issue Soft Robotics: Actuation, Control, and Application)
►▼
Show Figures
![](https://pub.mdpi-res.com/actuators/actuators-13-00242/article_deploy/html/images/actuators-13-00242-g001-550.jpg?1719479942)
Figure 1
Open AccessArticle
Design, Modeling, and Vibration Control of a Damper Based on Magnetorheological Fluid and Elastomer
by
Zhuang **, Fufeng Yang, **aoting Rui, Min Jiang and Jiaqi Wang
Actuators 2024, 13(7), 241; https://doi.org/10.3390/act13070241 - 27 Jun 2024
Abstract
The aim of this study is to propose a damper based on magnetorheological (MR) fluid and elastomer for application in vehicle engine mounting systems to dissipate the vibration energy transferred from the engine to the vehicle body. The magnetic circuit structure of the
[...] Read more.
The aim of this study is to propose a damper based on magnetorheological (MR) fluid and elastomer for application in vehicle engine mounting systems to dissipate the vibration energy transferred from the engine to the vehicle body. The magnetic circuit structure of the damper has been precisely designed, and its reasonableness has been verified by static magnetic field simulation. After the principle prototype’s completion, the damper’s mechanical properties are tested by an electro–hydraulic servo fatigue machine. The results show that with the current increase, the damper’s in-phase stiffness increases by 20.6%. The equivalent dam** improves by 81.6%, which indicates that the damper has a good MR effect. A new phenomenological model is proposed, and a genetic algorithm is used to identify the parameters of the model. Finally, a 1/4 vehicle engine vibration dam** system model is established and a dynamics simulation is carried out. The simulation results show that the damper effectively reduces the vibration transmitted from the engine to the body, and the vibration-dam** effect is even more obvious through sky-hook control. This proves that the damper proposed in this study has good vibration-dam** performance.
Full article
(This article belongs to the Special Issue Magnetorheological Actuators and Dampers)
►▼
Show Figures
![](https://pub.mdpi-res.com/actuators/actuators-13-00241/article_deploy/html/images/actuators-13-00241-g001-550.jpg?1719479792)
Figure 1
Open AccessArticle
Stable Rapid Sagittal Walking Control for Bipedal Robot Using Passive Tendon
by
Haibo Gao, Shengjun Wang, Kaizheng Shan, Changxi Mu, **n Wang, Bo Su and Haitao Yu
Actuators 2024, 13(7), 240; https://doi.org/10.3390/act13070240 - 26 Jun 2024
Abstract
This paper presents the development, control, and experimental validation of a novel bipedal robot with a passive tendon. The robot, featuring foldable legs, coaxial actuation, and compact folded size, is endowed with a leg configuration with a five-bar mechanism. Based on biological observations
[...] Read more.
This paper presents the development, control, and experimental validation of a novel bipedal robot with a passive tendon. The robot, featuring foldable legs, coaxial actuation, and compact folded size, is endowed with a leg configuration with a five-bar mechanism. Based on biological observations of human walking, a passive artificial tendon made of emulsion is fabricated to work in conjunction with a tensioning device, providing adaptive heel touchdown and toe push-off in sync with single-leg movement. The tailored control framework for the bipedal robot is further established with the double-layer architecture. The regulation layer employs the linear inverted pendulum (LIP) model to generate reference trajectory of the center of mass (CoM) with a dead-beat style of parameter adjustment. An inverse-dynamics-based whole-body controller (WBC) is applied to enforce the full-order dynamics of the bipedal robot to reproduce the LIP model’s behavior. We carry out the experiments on the physical prototype to evaluate the walking performance of the developed bipedal robot. The results show that the robot achieves stable walking at the speed of 0.8 m/s (almost twice the leg length/s) and exhibits robustness to external push disturbance.
Full article
(This article belongs to the Section Actuators for Robotics)
Open AccessArticle
Development of the Anthropomorphic Arm for Collaborative and Home Service Robot CHARMIE
by
Fawad A. Syed, Gil Lopes and A. Fernando Ribeiro
Actuators 2024, 13(7), 239; https://doi.org/10.3390/act13070239 - 26 Jun 2024
Abstract
Service robots are rapidly transitioning from concept to reality, making significant strides in development. Similarly, the field of prosthetics is evolving at an impressive pace, with both areas now being highly relevant in the industry. Advancements in these fields are continually pushing the
[...] Read more.
Service robots are rapidly transitioning from concept to reality, making significant strides in development. Similarly, the field of prosthetics is evolving at an impressive pace, with both areas now being highly relevant in the industry. Advancements in these fields are continually pushing the boundaries of what is possible, leading to the increasing creation of individual arm and hand prosthetics, either as standalone units or combined packages. This trend is driven by the rise of advanced collaborative robots that seamlessly integrate with human counterparts in real-world applications. This paper presents an open-source, 3D-printed robotic arm that has been assembled and programmed using two distinct approaches. The first approach involves controlling the hand via teleoperation, utilizing a camera and machine learning-based hand pose estimation. This method details the programming techniques and processes required to capture data from the camera and convert it into hardware signals. The second approach employs kinematic control using the Denavit-Hartenbergmethod to define motion and determine the position of the end effector in 3D space. Additionally, this work discusses the assembly and modifications made to the arm and hand to create a cost-effective and practical solution. Typically, implementing teleoperation requires numerous sensors and cameras to ensure smooth and successful operation. This paper explores methods enabled by artificial intelligence (AI) that reduce the need for extensive sensor arrays and equipment. It investigates how AI-generated data can be translated into tangible hardware applications across various fields. The advancements in computer vision, combined with AI capable of accurately predicting poses, have the potential to revolutionize the way we control and interact with the world around us.
Full article
(This article belongs to the Special Issue Advanced Actuation, Intelligent Sensor and Precise Manipulation Technology in Human–Robot Interaction)
►▼
Show Figures
![](https://pub.mdpi-res.com/actuators/actuators-13-00239/article_deploy/html/images/actuators-13-00239-g001-550.jpg?1719395490)
Figure 1
Open AccessArticle
Design and Implementation of a Hardware-in-the-Loop Air Load Simulation System for Testing Aerospace Actuators
by
Alessandro Dell’Amico
Actuators 2024, 13(7), 238; https://doi.org/10.3390/act13070238 - 25 Jun 2024
Abstract
This paper presents the design and implementation of the hardware and control strategies of an electrohydraulic air load simulation system for testing aerospace actuators. The system is part of an Iron Bird, which is an energy management research platform developed in collaboration between
[...] Read more.
This paper presents the design and implementation of the hardware and control strategies of an electrohydraulic air load simulation system for testing aerospace actuators. The system is part of an Iron Bird, which is an energy management research platform developed in collaboration between Saab AB and Linkö** University. The purpose of the air load system is to provide realistic forces on the test object through the integration of a flight simulator for full mission evaluation. The challenge with electrohydraulic force control is tackled by increasing the hydraulic capacitance from increased load cylinder dead volumes, together with a feed-forward link based on accurate modelling of the test object and load system by adopting an optimisation routine to find model parameters. The system is implemented for both an electromechanical and servohydraulic actuator as test objects with different performance requirements. The control design is based on nonlinear and linear modelling of the system, and experimental test data are used to tune the models. Finally, test results of the air load system prove its force-tracking performance.
Full article
(This article belongs to the Special Issue Flight Control Systems and Dynamic Simulation for Aerospace Applications)
Open AccessArticle
A Simple Curvature-Based Backward Path-Tracking Control for a Mobile Robot with N Trailers
by
Tianrui Zhao, Weining Huang, Pengjie Xu, Wei Zhang, Peixing Li and Yanzheng Zhao
Actuators 2024, 13(7), 237; https://doi.org/10.3390/act13070237 - 25 Jun 2024
Abstract
This paper introduces a two-tier feedback control law for the path tracking of a mobile robot equipped with N on-axle trailers. Initially, through a recursive design process, the curvature-tracking challenge is converted into stabilizing the joint angles at predefined reference values. This design
[...] Read more.
This paper introduces a two-tier feedback control law for the path tracking of a mobile robot equipped with N on-axle trailers. Initially, through a recursive design process, the curvature-tracking challenge is converted into stabilizing the joint angles at predefined reference values. This design approach is straightforward and can be easily extended to configurations with multiple trailers. Using input-to-state stability analysis, we demonstrate the asymptotic stability of the closed-loop system, which is structured in cascade form. Furthermore, we reformulate the path-tracking problem as a curvature-planning challenge and propose an algorithm to determine the desired curvature for the tail trailer. The simulation results validate the effectiveness of this novel algorithm in truck-trailer systems.
Full article
(This article belongs to the Special Issue Advances in Dynamics and Motion Control of Unmanned Aerial/Underwater/Ground Vehicles)
Open AccessArticle
Current State, Needs, and Opportunities for Wearable Robots in Military Medical Rehabilitation and Force Protection
by
Rory A. Cooper, George Smolinski, Jorge L. Candiotti, Shantanu Satpute, Garrett G. Grindle, Tawnee L. Sparling, Michelle J. Nordstrom, **aoning Yuan, Allison Symsack, Chang Dae Lee, Nicola Vitiello, Steven Knezevic, Thomas G. Sugar, Urs Schneider, Verena Kopp, Mirjam Holl, Ignacio Gaunaurd, Robert Gailey, Paolo Bonato, Ron Poropatich, David J. Adet, Francesco Clemente, James Abbas and Paul F. Pasquinaadd
Show full author list
remove
Hide full author list
Actuators 2024, 13(7), 236; https://doi.org/10.3390/act13070236 - 24 Jun 2024
Abstract
Despite advances in wearable robots across various fields, there is no consensus definition or design framework for the application of this technology in rehabilitation or musculoskeletal (MSK) injury prevention. This paper aims to define wearable robots and explore their applications and challenges for
[...] Read more.
Despite advances in wearable robots across various fields, there is no consensus definition or design framework for the application of this technology in rehabilitation or musculoskeletal (MSK) injury prevention. This paper aims to define wearable robots and explore their applications and challenges for military rehabilitation and force protection for MSK injury prevention. We conducted a modified Delphi method, including a steering group and 14 panelists with 10+ years of expertise in wearable robots. Panelists presented current wearable robots currently in use or in development for rehabilitation or assistance use in the military workforce and healthcare. The steering group and panelists met to obtain a consensus on the wearable robot definition applicable for rehabilitation or primary injury prevention. Panelists unanimously agreed that wearable robots can be grouped into three main applications, as follows: (1) primary and secondary MSK injury prevention, (2) enhancement of military activities and tasks, and (3) rehabilitation and reintegration. Each application was presented within the context of its target population and state-of-the-art technology currently in use or under development. Capturing expert opinions, this study defines wearable robots for military rehabilitation and MSK injury prevention, identifies health outcomes and assessment tools, and outlines design requirements for future advancements.
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)
►▼
Show Figures
![](https://pub.mdpi-res.com/actuators/actuators-13-00236/article_deploy/html/images/actuators-13-00236-g001-550.jpg?1719241712)
Figure 1
Open AccessArticle
Incorporating Human–Machine Transition into CACC Platoon Guidance Strategy for Actuator Failure
by
Qingchao Liu and Ling Gong
Actuators 2024, 13(7), 235; https://doi.org/10.3390/act13070235 - 24 Jun 2024
Abstract
This study proposes a guidance strategy based on human–machine transition (HMT) for cooperative adaptive cruise control (CACC) truck platoon actuator failures. Existing research on the CACC platoon mainly focuses on upper-level planning and rarely considers platoon planning failures caused by actuator failures. This
[...] Read more.
This study proposes a guidance strategy based on human–machine transition (HMT) for cooperative adaptive cruise control (CACC) truck platoon actuator failures. Existing research on the CACC platoon mainly focuses on upper-level planning and rarely considers platoon planning failures caused by actuator failures. This study proposes that the truck in the platoon creates sufficient space on the target lane through HMT when the actuator fails, thereby promoting lane changes for the entire team. The effectiveness of the proposed strategy is evaluated using the Simulation of Urban Mobility (SUMO) simulation. The results demonstrate that under conditions ensuring the normal operation of traffic flow, this guidance strategy enhances the platoon’s lane-changing capability. In addition, this strategy exhibits stronger robustness and efficiency in different traffic densities. This guidance strategy provides valuable insights into improving the driving efficiency of CACC truck platoons in complex road environments.
Full article
(This article belongs to the Special Issue Actuator Fault Diagnosis, State Detection and Fault Tolerant Control for Ground and Rail Vehicles)
Open AccessArticle
Research on Multi-Mode Variable Parameter Intelligent Shift Control Method of Loader Based on RBF Network
by
Guanghua Wu, Tianyu ** and Junnian Wang
Actuators 2024, 13(7), 234; https://doi.org/10.3390/act13070234 - 24 Jun 2024
Abstract
The loader is one of the most widely used pieces of engineering machinery in the world for soil transportation, loading and unloading materials, and low-intensity shovel digging operations in harsh and complex operating conditions; it requires very frequent shifting and has other challenging
[...] Read more.
The loader is one of the most widely used pieces of engineering machinery in the world for soil transportation, loading and unloading materials, and low-intensity shovel digging operations in harsh and complex operating conditions; it requires very frequent shifting and has other challenging characteristics. In order to realize automatic frequent shifting, we need to better design the shifting rules in the shifting process, improve the shifting quality and working efficiency, and solve the key engineering problems of energy saving and high efficiency in the shifting process of loaders. In this paper, a 7-ton wheel loader is taken as the research object, the loader shoveling process of the four operating modes is analyzed, and a multi-mode variable parameter shift law is designed. Aiming at the complicated and nonlinear characteristics of the power transmission system of the loader, an intelligent shift control method based on an RBF neural network is proposed. Finally, the simulation test and the clutch shift oil pressure test are carried out. From the test results, the clutch test oil pressure curve obviously shows a four-stage upward trend during shifting, and the buffering effect is obvious. The designed multi-mode variable-parameter intelligent shift law of the loader is reasonable and feasible, and the shift recognition rate reaches 97.92%, which provides theoretical support for the realization of intelligent automatic speed change control of the loader, and it certainly has engineering value.
Full article
(This article belongs to the Section Actuators for Land Transport)
►▼
Show Figures
![](https://pub.mdpi-res.com/actuators/actuators-13-00234/article_deploy/html/images/actuators-13-00234-g001-550.jpg?1719214170)
Figure 1
Open AccessArticle
Disturbance-Observer-Based Sliding-Mode Speed Control for Synchronous Reluctance Motor Drives via Generalized Super-Twisting Algorithm
by
Yong-Chao Liu
Actuators 2024, 13(7), 233; https://doi.org/10.3390/act13070233 - 22 Jun 2024
Abstract
In this study, a novel composite speed controller combining a sliding-mode speed controller with a disturbance observer is proposed for the vector-controlled synchronous reluctance motor (SynRM) drive system. The proposed composite speed controller employs the generalized super-twisting sliding-mode (GSTSM) algorithm to construct both
[...] Read more.
In this study, a novel composite speed controller combining a sliding-mode speed controller with a disturbance observer is proposed for the vector-controlled synchronous reluctance motor (SynRM) drive system. The proposed composite speed controller employs the generalized super-twisting sliding-mode (GSTSM) algorithm to construct both the speed controller and the disturbance observer. The GSTSM speed controller is utilized to stabilize the speed tracking error dynamics in finite time, while the GSTSM disturbance observer compensates for the total disturbance in the speed tracking error dynamics, which includes external disturbances and parametric uncertainties. Under the framework of the constant direct-axis current component vector control strategy for the SynRM drive system, comparative simulation studies are conducted among the standard STSM speed controller, the GSTSM speed controller, the composite speed controller using a GSTSM speed controller and a standard STSM disturbance observer, and the proposed composite speed controller. The effectiveness and superiority of the proposed composite speed controller are verified through simulation results.
Full article
(This article belongs to the Section Control Systems)
Open AccessReview
Solid-State Electromechanical Smart Material Actuators for Pumps—A Review
by
Eva Ann Sideris, Hendrik Cornelis de Lange, Urmas Johanson and Tarmo Tamm
Actuators 2024, 13(7), 232; https://doi.org/10.3390/act13070232 - 22 Jun 2024
Abstract
Solid-state electromechanical smart material actuators are versatile as they permit diverse shapes and designs and can exhibit different actuation modes. An important advantage of these actuators compared to conventional ones is that they can be easily miniaturized to a sub-millimeter scale. In recent
[...] Read more.
Solid-state electromechanical smart material actuators are versatile as they permit diverse shapes and designs and can exhibit different actuation modes. An important advantage of these actuators compared to conventional ones is that they can be easily miniaturized to a sub-millimeter scale. In recent years, there has been a great surge in novel liquid pumps operated by these smart material actuators. These devices create opportunities for applications in fields ranging from aerospace and robotics to the biomedical and drug delivery industries. Although these have mainly been prototypes, a few products have already entered the market. To assist in the further development of this research track, we provide a taxonomy of the electromechanical smart material actuators available, and subsequently focus on the ones that have been utilized for operating pumps. The latter includes unidirectional shape memory alloy-, piezoelectric ceramic-, ferroelectric polymer-, dielectric elastomer-, ionic polymer metal composite- and conducting polymer-based actuators. Their properties are reviewed in the context of engineering pumps and summarized in comprehensive tables. Given the diverse requirements of pumps, these varied smart materials and their actuators offer exciting possibilities for designing and constructing devices for a wide array of applications.
Full article
(This article belongs to the Special Issue Actuators in 2024)
![Actuators actuators-logo](https://pub.mdpi-res.com/img/journals/actuators-logo.png?738869f19b7098a2)
Journal Menu
► ▼ Journal Menu-
- Actuators Home
- Aims & Scope
- Editorial Board
- Reviewer Board
- Topical Advisory Panel
- Instructions for Authors
- Special Issues
- Topics
- Sections
- Article Processing Charge
- Indexing & Archiving
- Editor’s Choice Articles
- Most Cited & Viewed
- Journal Statistics
- Journal History
- Journal Awards
- Conferences
- Editorial Office
Journal Browser
► ▼ Journal BrowserHighly Accessed Articles
Latest Books
E-Mail Alert
News
Topics
Topic in
Actuators, Applied Sciences, Entropy
Thermodynamics and Heat Transfers in Vacuum Tube Trains (Hyperloop)
Topic Editors: Suyong Choi, Minki Cho, Jungyoul LimDeadline: 30 July 2024
Topic in
Actuators, Energies, Machines, Robotics, Sensors
Recent Advances in the Thermal Error of Precision Machine Tools
Topic Editors: Chi Ma, Hu Shi, Fuxin Du, Kuo Liu, Zhengchun Du, Weiguo Gao, Sitong **angDeadline: 31 October 2024
Topic in
Actuators, Applied Sciences, Machines, Robotics, Sensors, Inventions, Technologies
Advances in Mobile Robotics Navigation, 2nd Volume
Topic Editors: Luis Payá, Oscar Reinoso García, Helder Jesus AraújoDeadline: 31 December 2024
Topic in
Actuators, Algorithms, BDCC, Future Internet, JMMP, Machines, Robotics, Systems
Smart Product Design and Manufacturing on Industrial Internet
Topic Editors: **yu Jiang, Jihong Liu, Ying Liu, Jihong YanDeadline: 31 December 2025
![loading...](https://pub.mdpi-res.com/img/loading_circle.gif?9a82694213036313?1719563568)
Conferences
Special Issues
Special Issue in
Actuators
Modeling and Control for Chassis Devices in Electric Vehicles
Guest Editors: Seong** Yim, Kanghyun NamDeadline: 15 July 2024
Special Issue in
Actuators
Recent Advances in Pneumatic Soft Actuators
Guest Editor: João Falcão CarneiroDeadline: 31 July 2024
Special Issue in
Actuators
Advanced Robots: Design, Control and Application—2nd Edition
Guest Editor: Ioan DorofteiDeadline: 10 August 2024
Special Issue in
Actuators
Shape Memory Alloys and Piezoelectric Materials and Their Applications
Guest Editor: Hongli JiDeadline: 31 August 2024