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Actuators
Special Issues
Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems
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Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Control Systems".

Deadline for manuscript submissions: 31 October 2024 | Viewed by 6737

Special Issue Editors

Dr. Bobo Helian

E-Mail Website
Guest Editor
Institute of Mobile Machines, Karlsruhe Institute of Technology, 76131 Karlsruhe, Germany
Interests: advanced controls of mechatronic and electro-hydraulic systems; motion control; constrained control; nonlinear adaptive robust control; machine learning; pump control; independent metering control
Prof. Dr. Zheng Chen

E-Mail Website
Guest Editor
The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, China
Interests: advanced control of robotic and mechatronic systems; nonlinear adaptive robust control; motion control; trajectory planning; telerobotics; hydraulic system; precision mechatronic system; soft actuator and robot; mobile manipulator; underwater robot; exoskeleton
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Precision is a core requirement of industrial machines, including mechatronic and electro-hydraulic systems. Advanced control techniques are widely used for high-performance operations in the fields of manufacturing, mobile machines, industrial robots, etc. Control difficulties that challenge control precision are prevalent in mechatronic and electro-hydraulic systems. These control difficulties can be summarized as dynamic non-linearities, parametric uncertainties, constraints, time-varying working conditions, unknown workloads, disturbances, friction, vibration, etc. To overcome these control difficulties and improve control accuracy, intelligent and precision control strategies can be effective solutions, including non-linear model-based control and machine learning. Therefore, this Special Issue aims to provide an opportunity for international researchers to present their latest findings on intelligent and precision control for mechatronic/electro-hydraulic systems. The topics of interest include, but are not limited to：

  • Control of mechatronic systems,
  • Control of electro-hydraulic systems,
  • Intelligent control,
  • Data-driven modelling, diagnosis, optimization, and control,
  • Machine learning,
  • model-based non-linear control,
  • precision motion control,
  • modelling and identification,
  • adaptive robust control,
  • robotic control.

Dr. Bobo Helian
Prof. Dr. Zheng Chen
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • control
  • mechatronics
  • electro-hydraulic systems
  • intelligent control
  • machine learning
  • motion control
  • non-linear control

Published Papers (4 papers)

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Research

18 pages, 3859 KiB  
Article
A Novel Cooperative Control Strategy for Three-Degree-of-Freedom Pneumatic Parallel Mechanism
by Qingqing Huang, Guanwei He, Guodong Feng and Beichen Ding
Actuators 2024, 13(3), 89; https://doi.org/10.3390/act13030089 - 26 Feb 2024
Viewed by 980
Abstract
The three-degree-of-freedom (3-DoF) parallel mechanism (PM) is widely used due to its simple structure and ability to avoid coupling problems commonly found in high-DoF PMs. The conventional control approach is usually independent control for each branch of the mechanism using a PID controller, [...] Read more.
The three-degree-of-freedom (3-DoF) parallel mechanism (PM) is widely used due to its simple structure and ability to avoid coupling problems commonly found in high-DoF PMs. The conventional control approach is usually independent control for each branch of the mechanism using a PID controller, without considering the consistency among branches. This paper proposes a novel cooperative control strategy for the 3-DoF PM to achieve both synchronized and differential motion. A pneumatic actuated test rig was constructed to validate the effectiveness of the cooperative controller. The results demonstrate our control approach outperforms the PID controller. Our self-designed platform is functional and intuitive, which can be regarded as a control scheme test bench for a 3-DoF PM. Full article
(This article belongs to the Special Issue Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems)
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26 pages, 23085 KiB  
Article
A Singular Perturbation Theory-Based Composite Control Design for a Pump-Controlled Hydraulic Actuator with Position Tracking Error Constraint
by Bing-Long Wang, Yan Cai, Jin-Chun Song and Qian-Kun Liang
Actuators 2023, 12(7), 265; https://doi.org/10.3390/act12070265 - 28 Jun 2023
Cited by 2 | Viewed by 1515
Abstract
Pump-controlled hydraulic actuators (PHAs) contain slow mechanical and fast hydraulic dynamics, and thus singular perturbation theory can be adopted in the control strategies of PHAs. In this article, we develop a singular perturbation theory-based composite control approach for a PHA with position tracking [...] Read more.
Pump-controlled hydraulic actuators (PHAs) contain slow mechanical and fast hydraulic dynamics, and thus singular perturbation theory can be adopted in the control strategies of PHAs. In this article, we develop a singular perturbation theory-based composite control approach for a PHA with position tracking error constraint. Disturbance observers (DOBs) are used to estimate the matched and mismatched uncertainties for online compensation. A sliding surface-like error variable is proposed to transform the second-order mechanical subsystem into a first-order error subsystem. Consequently, the position tracking error constraint of the PHA is decomposed into the output constraint of the first-order error subsystem and the stabilizing of the first-order hydraulic subsystem. Slow and fast control laws can be easily designed without using the backstepping technique, thus simplifying the control design and reducing the computational burden to a large extent. Theoretical analysis verifies that desired stability properties can be achieved by an appropriate selection of the control parameters. Simulations and experiments are performed to confirm the efficacy and practicability of the proposed control strategy. Full article
(This article belongs to the Special Issue Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems)
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21 pages, 5713 KiB  
Article
Development of an Adaptive Fuzzy Sliding Mode Controller of an Electrohydraulic Actuator Based on a Virtual Prototyping
by Nguyen Huu Tho, Vo Ngoc Yen Phuong and Le Thanh Danh
Actuators 2023, 12(6), 258; https://doi.org/10.3390/act12060258 - 20 Jun 2023
Cited by 3 | Viewed by 1249
Abstract
The EHA (electro hydraulic actuator) has a notable advantage over conventional hydraulic actuators as it uses a closed-loop circuit, reducing the size and volume of oil, and eliminates pressure losses caused by valve orifices. However, accurate control performance of EHA is difficult to [...] Read more.
The EHA (electro hydraulic actuator) has a notable advantage over conventional hydraulic actuators as it uses a closed-loop circuit, reducing the size and volume of oil, and eliminates pressure losses caused by valve orifices. However, accurate control performance of EHA is difficult to achieve using a traditional PID (proportional integral derivative) controller due to the strongly nonlinear, time-varying, and unknown dynamics of the system. Hence this paper seeks to address this problem by proposing a design of an intelligent controller for the EHA. The proposed adaptive fuzzy sliding mode controller (AFSMC) is developed as a hybrid of the adaptive, fuzzy logic, and sliding mode algorithms. To reduce costs and time, a virtual prototype approach is also proposed instead of experimentations to evaluate the performance of the proposed controller. The virtual model of the EHA is built in Amesime software, and then embedded into Matlab/Simulink where the AFSMC is developed and tested to obtain the position responses of the EHA. The results show that the AFSMC is highly successful and more efficient than the traditional PID at controlling the position of the piston accurately. Full article
(This article belongs to the Special Issue Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems)
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18 pages, 4713 KiB  
Article
UKF-Based Observer Design for the Electric Brake Booster in Situations of Disturbance
by Mingming Mei, Shuo Cheng, Liang Li, Hongyuan Mu and Yuxuan Pei
Actuators 2023, 12(3), 94; https://doi.org/10.3390/act12030094 - 22 Feb 2023
Viewed by 2289
Abstract
The motor-driven electric brake booster (E-Booster) can replace the traditional vacuum booster to realize the braking power assistance and active braking. Independent of extra sensors, this paper proposes a full-state observer for E-Booster based on Unscented Kalman Filter (UKF) in the presence of [...] Read more.
The motor-driven electric brake booster (E-Booster) can replace the traditional vacuum booster to realize the braking power assistance and active braking. Independent of extra sensors, this paper proposes a full-state observer for E-Booster based on Unscented Kalman Filter (UKF) in the presence of a driver’s input force disturbance. The electro-hydraulic system is first modeled, which includes a nonlinear hydraulic model and the reaction disk’s rubber model. The pre-compression is designed to produce linear power assistance based on the properties of rubber material. With the existence of the disturbance, the linear quadratic regulator (LQR) algorithm is used to track the pre-compression of the reaction disk so that E-Booster is developed into a closed-loop system to achieve power assistance. The proposed UKF observer can online estimate the states considering the controller input and disturbance input. To reduce the process error, the hydraulic p-V characteristic is fitted using the recursive least squares (RLS) method before observation. Furthermore, the simulation test and vehicle tests are performed to validate the observation effect. In the closed-loop test, UKF decreases residual error by 16% when compared to the typical Extended Kalman Filter (EKF). The simulation results remain consistent with the experimental results, demonstrating the effectiveness of the proposed method. Full article
(This article belongs to the Special Issue Intelligent and Precision Control for Mechatronic/Electro-Hydraulic Systems)
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