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Applied Sciences
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Advanced Control Theory and System Dynamics of Robotics
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Advanced Control Theory and System Dynamics of Robotics

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

Deadline for manuscript submissions: closed (30 June 2023) | Viewed by 7201

Special Issue Editors

Dr. Karlo Griparić

E-Mail Website
Guest Editor
Faculty of Engineering, Juraj Dobrila University of Pula, Zagrebacka 30, 52000 Pula, Croatia
Interests: multi-agent systems; distributed control; robotics; system modeling
Dr. Thierry Floquet

E-Mail Website1 Website2
Guest Editor
CNRS (Centre National de la Recherche Scientifique), CRIStAL (Centre de Recherche en Informatique Signal et Automatique de Lille), UMR CNRS 9189, Ecole Centrale de Lille, BP 48, CEDEX, 59651 Villeneuve-d'Ascq, France
Interests: nonlinear control and observation; sliding mode control, applications to electrical engineering and robotics

Special Issue Information

Dear Colleagues,

We are living in a world where the intelligence and robustness of systems and robots are developing at an accelerated pace. The potential of such systems has caused an increased amount of interest in research on advances in control theory and system dynamics on robotics. The possibilities of such dynamic systems and robots, due to both intelligent control and robustness to disturbances, has extended the field of possible applications, making the system adaptive to dynamical environmental conditions and less constrained by physical limitations.

This Special Issue provides an opportunity for researchers to present new ideas and experimental results in the field of advanced control theory and system dynamics of robotics. The areas relevant to this issue include but are not limited to new insights in mathematical models, sensing, perception, decision making, and the control of complex systems and robots.

We are seeking high-quality and innovative research and review papers that cover the following topics:

  • Stability of nonlinear dynamic systems;
  • Control theory algorithms;
  • Advanced and intelligent control methods;
  • Adaptive and predictive control;
  • Distributed control;
  • Robust and resilient control;
  • Artificial intelligence;
  • Machine learning;
  • Optimization;
  • Multi-agent systems;
  • Sensing and perception.

Dr. Karlo Griparić
Dr. Thierry Floquet
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. Applied Sciences is an international peer-reviewed open access semimonthly 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

  • nonlinear dynamic systems
  • adaptive and predictive control
  • robotics
  • advanced and intelligent control
  • machine learning
  • optimization
  • multi-agent systems
  • distributed control

Published Papers (4 papers)

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Research

17 pages, 859 KiB  
Article
Event-Sampled Adaptive Neural Course Keeping Control for USVs Using Intermittent Course Data
by Hongyang Zhi, Baofeng Pan and Guibing Zhu
Appl. Sci. 2023, 13(18), 10035; https://doi.org/10.3390/app131810035 - 06 Sep 2023
Viewed by 605
Abstract
This paper addresses the issue of course keeping control (CKC) for unmanned surface vehicles (USVs) under network environments, where various challenges, such as network resource constraints and discontinuities of course and yaw caused by data transmission, are taken into account. To tackle the [...] Read more.
This paper addresses the issue of course keeping control (CKC) for unmanned surface vehicles (USVs) under network environments, where various challenges, such as network resource constraints and discontinuities of course and yaw caused by data transmission, are taken into account. To tackle the issue of network resource constraints, an event-sampled scheme is developed to obtain the course data, and a novel event-sampled adaptive neural-network-based state observer (NN–SO) is developed to achieve the state reconstruction of discontinuous yaw. Using a backstepping design method, an event-sampled mechanism, and an adaptive NN–SO, an adaptive neural output feedback (ANOF) control law is designed, where the dynamic surface control technique is introduced to solve the design issue caused by the intermission course data. Moreover, an event-triggered mechanism (ETM) is established in a controller–actuator (C–A) channel and a dual-channel event-triggered adaptive neural output feedback control (ETANOFC) solution is proposed. The theoretical results show that all signals in the closed-loop control system (CLCS) are bounded. The effectiveness is verified through numerical simulations. Full article
(This article belongs to the Special Issue Advanced Control Theory and System Dynamics of Robotics)
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20 pages, 6304 KiB  
Article
Design of a Four-Axis Robot Arm System Based on Machine Vision
by Yijie Wang, Yushan Zhou, Lai Wei and Ruiya Li
Appl. Sci. 2023, 13(15), 8836; https://doi.org/10.3390/app13158836 - 31 Jul 2023
Viewed by 3874
Abstract
With the concept of industrial automation gradually being put forward, the four-axis robotic arm is gradually being applied in industrial production environments due to its advantages such as a stable structure, easy maintenance, and expandability. However, it is difficult to diversify and improve [...] Read more.
With the concept of industrial automation gradually being put forward, the four-axis robotic arm is gradually being applied in industrial production environments due to its advantages such as a stable structure, easy maintenance, and expandability. However, it is difficult to diversify and improve the traditional four-axis robotic arm system due to the high software and hardware coupling and the single system design, which results in high production costs. At the same time, its low intelligence and high-power consumption limit its wide application. The paper proposes an embedded design of a four-axis manipulator system based on vision guidance. Based on the robot kinematics theory and geometric principles, the dynamics simulation of the manipulator model is carried out. Through the forward and reverse analysis of the manipulator model and the trajectory planning of the manipulator, the YOLOV7 target detection algorithm is introduced and deployed on the embedded device, which greatly reduces the manufacturing cost of the manipulator while meeting the control and power consumption requirements. It has been verified by experiments that the robot arm in this paper can achieve an end accuracy of 0.05 mm under the condition of a load of 1 kg using the ISO 9283 international standard, and the recognition algorithm adopted can achieve a recognition accuracy of 95.2% at a frame rate of 29. The overall power consumption is also lower than that of traditional robotic arms. Full article
(This article belongs to the Special Issue Advanced Control Theory and System Dynamics of Robotics)
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28 pages, 459 KiB  
Article
Uniform Circle Formation for Fully, Semi-, and Asynchronous Opaque Robots with Lights
by Caterina Feletti, Carlo Mereghetti and Beatrice Palano
Appl. Sci. 2023, 13(13), 7991; https://doi.org/10.3390/app13137991 - 07 Jul 2023
Cited by 2 | Viewed by 1075
Abstract
In the field of robotics, a lot of theoretical models have been settled to formalize multi-agent systems and design distributed algorithms for autonomous robots. Among the most investigated problems for such systems, the study of the Uniform Circle Formation (UCF) problem earned a [...] Read more.
In the field of robotics, a lot of theoretical models have been settled to formalize multi-agent systems and design distributed algorithms for autonomous robots. Among the most investigated problems for such systems, the study of the Uniform Circle Formation (UCF) problem earned a lot of attention for the properties of such a convenient disposition. Such a problem asks robots to move on the plane to form a regular polygon, running a deterministic and distributed algorithm by executing a sequence of look–compute–move cycles. This work aims to solve the UCF problem for a very restrictive model of robots: they are punctiform, anonymous, and indistinguishable. They are completely disoriented, i.e., they share neither the coordinate system nor chirality. Additionally, they are opaque, so collinearities can hide important data for a proper computation. To tackle these system limitations, robots are equipped with a persistent light used to communicate and store a constant amount of information. For such a robot model, this paper presents a solution for UCF for each of the three scheduling modes usually studied in the literature: fully synchronous, semi-synchronous, and asynchronous. Regarding the time complexity, the proposed algorithms use a constant number of cycles (epochs) for fully synchronous (semi-synchronous) robots, and linearly, many epochs in the worst case for asynchronous robots. Full article
(This article belongs to the Special Issue Advanced Control Theory and System Dynamics of Robotics)
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16 pages, 4228 KiB  
Article
A Robot Gripper with Differential and Hoecken Linkages for Straight Parallel Pinch and Self-Adaptive Grasp
by Yankai Liu and Wenzeng Zhang
Appl. Sci. 2023, 13(12), 7042; https://doi.org/10.3390/app13127042 - 12 Jun 2023
Viewed by 1162
Abstract
Parallel pinch is an important grasp method. The end phalanx of the traditional parallel pinch and self-adaptive gripper moves in an arc trajectory, which requires the auxiliary lifting motion of the industrial manipulator, which is inconvenient to use. To solve this problem, a [...] Read more.
Parallel pinch is an important grasp method. The end phalanx of the traditional parallel pinch and self-adaptive gripper moves in an arc trajectory, which requires the auxiliary lifting motion of the industrial manipulator, which is inconvenient to use. To solve this problem, a novel robot finger is designed and implemented—Hoecken’s finger. In this finger, the Hoecken linkage mechanism is used to realize the straight-line trajectory of the end joint, the differential mechanism set on the surface of the phalanxes is used to realize the shape self-adaptation of the first and second phalanxes, and the parallel four-bar linkage in series is used to realize the attitude keeping, thus comprehensively realizing the underactuated gripper driven by a single motor. After analyzing the grasp force and grasp motion of Hoecken’s fingers, the optimized parameters are obtained, and the Hoecken’s gripper is developed. The experimental results show that the gripper can realize the self-adaptive grasp function of straight parallel pinch, the grasp is stable, and the grasp range is large. It can be applied to more scenes that need to grasp objects. Full article
(This article belongs to the Special Issue Advanced Control Theory and System Dynamics of Robotics)
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