Submit to Energies Review for Energies Propose a Special Issue

Journal Menu

Journal Browser

► Journal Browser

Energy Problems in Control and Robotics Systems

Print Special Issue Flyer
Special Issue Editors
Special Issue Information
Keywords
Published Papers

A special issue of Energies (ISSN 1996-1073). This special issue belongs to the section "F: Electrical Engineering".

Deadline for manuscript submissions: closed (30 September 2023) | Viewed by 14993

Share This Special Issue

Special Issue Editors

Prof. Dr. Jarosław Konieczny

E-Mail Website1 Website2
Guest Editor

Department of Process Control, Faculty of Mechanical Engineering and Robotics, AGH University of Science and Technology, 30 Mickiewicza Ave. 30-059 Krakow, Poland
Interests: control systems theory; active vibration control; dynamic and control of structures; signal analysis; system identification; measurement systems; industrial automation
Special Issues, Collections and Topics in MDPI journals

Dr. József Vásárhelyi

E-Mail Website
Guest Editor

Institute of Automation and Info-communication, University of Miskolc, Miskolc, Hungary
Interests: robotics; adaptive computing application in robotics; fuzzy logic; embedded systems

Special Issue Information

Dear Colleagues,

The development of global production due to robotic systems in industry, agriculture and everyday life entails increasing energy demand. Advances in automation systems and robotization have aroused the interest of many scientists, including those dealing with energy systems. With advances in Industry 4.0, software engineering, hardware and technology improvements based on embedded systems applications in robotics automation and systems integration can solve ever more complex problems related to the management, optimization, uniform distribution, and diagnostics of energy systems. Along with the development of control techniques and information-processing algorithms, it is possible to manage the energy used by actuating systems. In recent years, the subject of autonomous and uncrewed vehicles has grown in importance. Nowadays, scientists intensely explore this technology in the energy context.

This Special Issue is devoted to selected topics related to automation and robotics applied to energy systems to optimize the demand for external energy. I would like to invite authors dealing with the subjects of this Special Issue to share the latest research, developments and new trends they have observed.

Prof. Dr. Jarosław Konieczny
Dr. József Vásárhelyi
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. Energies 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 2600 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

model predictive control
autonomous, uncrewed vehicles
optimization algorithms for energy consumption
control algorithms in renewable energy systems
control of intelligent buildings
self-powered control and measurement systems
energy aspects in active vibration control methods
the neural network approach to energy systems
hydraulic power technology
energy sensing and measurement systems
DSP techniques in energy systems
control management in electric vehicles

Published Papers (11 papers)

Download All Papers

Order results

Result details

Show export options Show export options

Select all

Export citation of selected articles as:

Research

Jump to: Review

20 pages, 1658 KiB

Open AccessFeature PaperArticle

Evaluation of Ride Performance of Active Inerter-Based Vehicle Suspension System with Parameter Uncertainties and Input Constraint via Robust H_∞ Control

by Keyvan Karim Afshar, Roman Korzeniowski and Jarosław Konieczny

Energies 2023, 16(10), 4099; https://doi.org/10.3390/en16104099 - 15 May 2023

Viewed by 1108

Abstract

In this study, we investigate a robust

H_{\infty}

In this study, we investigate a robust

H_{\infty}

controller for a quarter-car model of an active inerter-based suspension system under parameter uncertainties and road disturbance. Its main objective is to improve the inherent compromises between ride quality, handling performance, suspension stroke, and energy consumption. Inerters have been extensively used to suppress unwanted vibrations from various kinds of mechanical structures. The advantage of inerter is that the realized ratio of equivalent mass (inertance relative to the mass of the primary structure) is greater than its actual mass ratio, resulting in higher performance for the same effective mass. First, the dynamics and state space of the active inerter-based suspension system were achieved for the quarter-car model with parameter uncertainties. In order to attain the defined objectives, and ensure that the closed-loop system achieves the prescribed disturbance attenuation level, the Lyapunov stability function, and linear matrix inequality (LMI) techniques have been utilized to satisfy the robust

H_{\infty}

criterion. Furthermore, to limit the gain of the controller, some LMIs have been added. In the case of feasibility, sufficient LMI conditions by solving a convex optimization problem afford the stabilizing gain of the robust state-feedback controller. According to numerical simulations, the active inerter-based suspension system in the presence of parameter uncertainties and external disturbance performs much better than both a passive suspension with inerter and active suspension without inerter. Full article

(This article belongs to the Special Issue Energy Problems in Control and Robotics Systems)

► Show Figures

Figure 1

15 pages, 6175 KiB

Open AccessArticle

Assessing the Limits of Equivalent Circuit Models and Kalman Filters for Estimating the State of Charge: Case of Agricultural Robots

by German Monsalve, Alben Cardenas, Diego Acevedo-Bueno and Wilmar Martinez

Energies 2023, 16(7), 3133; https://doi.org/10.3390/en16073133 - 30 Mar 2023

Cited by 2 | Viewed by 1394

Abstract

The battery State of Charge (SoC) is critical information to overcome agricultural robots’ limitations related to battery and energy management. Although several SoC estimation methods have been proposed in the literature, the performance of these methods has not been validated for different battery chemistries in agricultural mobile robot applications. Compared to previous work, this paper evaluates the limits of the SoC estimation using the RC model and the Thevenin model for a Lithium Iron Phosphate (LFP) battery and a Sealed Lead Acid (SLA) battery. This evaluation used a custom agricultural robot in a controlled indoor environment. Consequently, this work assessed the limitations of two ECM-based SoC estimation methods using battery packs, low-cost sensors and discharge cycles typically used in agricultural robot applications. Finally, the results indicate that the RC model is not suitable for SoC estimation for LFP battery; however, it achieved a mean absolute error (MAE) of 2.2% for the SLA battery. On the other hand, the Thevenin model performed properly for both chemistries, achieving MAE lower than 1%. Full article

(This article belongs to the Special Issue Energy Problems in Control and Robotics Systems)

► Show Figures

Figure 1

21 pages, 8856 KiB

Open AccessArticle

Hybrid Vibration Reduction System for a Vehicle Suspension under Deterministic and Random Excitations

by Paweł Orkisz and Bogdan Sapiński

Energies 2023, 16(5), 2202; https://doi.org/10.3390/en16052202 - 24 Feb 2023

Viewed by 1248

Abstract

This paper concerns a hybrid vibration reduction system (HVRS) equipped with a linear electrodynamic motor (LM). The objective of the study was to implement the HVRS in a scaled vehicle suspension and reveal the benefits of its application in the system. First, a mathematical model of a quarter-vehicle suspension with the HVRS was formulated. Next, the dynamic similarity method was employed to conduct numerical simulations of the passive vibration reduction system (PVRS). Subsequently, an algorithm for HVRS controlling was developed. Then, the system was investigated experimentally under deterministic and random excitations. The results confirmed the effectiveness and applicability of the proposed HVRS. Full article

(This article belongs to the Special Issue Energy Problems in Control and Robotics Systems)

► Show Figures

Figure 1

19 pages, 17000 KiB

Open AccessArticle

Classification of Wear State for a Positive Displacement Pump Using Deep Machine Learning

by Jarosław Konieczny, Waldemar Łatas and Jerzy Stojek

Energies 2023, 16(3), 1408; https://doi.org/10.3390/en16031408 - 31 Jan 2023

Cited by 2 | Viewed by 1410

Abstract

Hydraulic power systems are commonly used in heavy industry (usually highly energy-intensive) and are often associated with high power losses. Designing a suitable system to allow an early assessment of the wear conditions of components in a hydraulic system (e.g., an axial piston pump) can effectively contribute to reducing energy losses during use. This paper presents the application of a deep machine learning system to determine the efficiency state of a multi-piston positive displacement pump. Such pumps are significant in high-power hydraulic systems. The correct operation of the entire hydraulic system often depends on its proper functioning. The wear and tear of individual pump components usually leads to a decrease in the pump’s operating pressure and volumetric losses, subsequently resulting in a decrease in overall pump efficiency and increases in vibration and pump noise. This in turn leads to an increase in energy losses throughout the hydraulic system, which releases excess heat. Typical failures of the discussed pumps and their causes are described after reviewing current research work using deep machine learning. Next, the test bench on which the diagnostic experiment was conducted and the selected operating signals that were recorded are described. The measured signals were subjected to a time–frequency analysis, and their features, calculated in terms of the time and frequency domains, underwent a significance ranking using the minimum redundancy maximum relevance (MRMR) algorithm. The next step was to design a neural network structure to classify the wear state of the pump and to test and evaluate the effectiveness of the network’s recognition of the pump’s condition. The whole study was summarized with conclusions. Full article

(This article belongs to the Special Issue Energy Problems in Control and Robotics Systems)

► Show Figures

Figure 1

17 pages, 6663 KiB

Open AccessArticle

Experimental Analysis of Hysteresis in the Motion of a Two-Input Piezoelectric Bimorph Actuator

by Dariusz Grzybek

Energies 2023, 16(3), 1198; https://doi.org/10.3390/en16031198 - 21 Jan 2023

Viewed by 1078

Abstract

This article presents a comparison of hysteresis courses in the motion of a two-input actuator (bimorph) and hysteresis in the motion of a single-input actuator (unimorph). The comparison was based on the results of laboratory and numerical experiments, the subject of which was an actuator built of three layers: a carrier layer from a glass-reinforced epoxy laminate and two piezoelectric layers from Macro Fiber Composite. The layers were glued together, and electrodes in the Macro Fiber Composite layers were connected to a system that included an analogue/digital board and a voltage amplifier. The main purpose of this research was to compare the characteristic points of the hysteresis curves of the displacement of the bimorph actuator with the characteristic points of the hysteresis curves of the unimorph actuator. Based on the research results, it was noticed that, in the bimorph, the maximum hysteresis and mean hysteresis values increase faster than the maximum displacement of a beam tip. However, values of characteristic input voltages for hysteresis loops—voltage corresponding to a maximum displacement of the actuator beam tip and voltage corresponding to maximum hysteresis—are almost the same for the bimorph and unimorph. From a practical point of view, it was noticed that the unimorph is a better choice compared to the bimorph in applications in which high changes in frequencies of input voltages appear. Full article

(This article belongs to the Special Issue Energy Problems in Control and Robotics Systems)

► Show Figures

Figure 1

16 pages, 2303 KiB

Open AccessArticle

On the Application of Support Vector Method for Predicting the Current Response of MR Dampers Control Circuit

by Bogdan Sapiński, Janusz Gołdasz, Łukasz Jastrzębski, Michał Awtoniuk and Robert Sałat

Energies 2022, 15(24), 9626; https://doi.org/10.3390/en15249626 - 19 Dec 2022

Viewed by 1082

Abstract

Magnetorheological (MR) dampers are controlled energy-dissipating devices utilizing smart fluids. They operate in a fast and valveless manner by taking advantage of the rheological properties of MR fluids. The magnitude of the response of MR fluids, when subjected to magnetic fields, is of sufficient magnitude to employ them in various applications, namely, vibration damping, energy absorption, exoskeletons, etc. At the same time, predicting their response to arbitrary mechanical and electrical inputs is still a research challenge. Due to the non-linearities involved in material properties or the design of the solenoid used for activating the fluid modeling the relationships between the control circuit and the material’s response is complex. Modeling studies can be classified into two categories. The parametric approach requires the knowledge of the internal material’s properties and takes advantage of physics formulas to infer the I/O relationships present in the damper. For comparison, the non-parametric approach harnesses various data mapping techniques to describe the device’s behavior. While the latter is more suited for design studies, the former seems ideal for control algorithm prototyping and the like. In this study, based on the so-called Support Vector Method (SVM), the authors develop a non-parametric model of the control circuit of an exemplary rotary MR damper. To the best of the author’s knowledge, it is the first attempt at an SVM application for MR dampers’ control circuit modeling. Using the acquired experimental data, the I/O relationships are inferred using the SVM algorithm, and its performance is verified across a wide range of excitation frequencies. The obtained results are satisfactory, and the current response of the MR damper is well-predicted. The model performance shows the potential for incorporating it into model-based prototyping and designing of MR control systems. Full article

(This article belongs to the Special Issue Energy Problems in Control and Robotics Systems)

► Show Figures

Figure 1

25 pages, 5870 KiB

Open AccessArticle

Towards Optimization of Energy Consumption of Tello Quad-Rotor with Mpc Model Implementation

by Rabab Benotsmane and József Vásárhelyi

Energies 2022, 15(23), 9207; https://doi.org/10.3390/en15239207 - 5 Dec 2022

Cited by 9 | Viewed by 1998

Abstract

For the last decade, there has been great interest in studying dynamic control for unmanned aerial vehicles, but drones—although a useful technology in different areas—are prone to several issues, such as instability, the high energy consumption of batteries, and the inaccuracy of tracking targets. Different approaches have been proposed for dealing with nonlinearity issues, which represent the most important features of this system. This paper focuses on the most common control strategy, known as model predictive control (MPC), with its two branches, linear (LMPC) and nonlinear (NLMPC). The aim is to develop a model based on sensors embedded in a Tello quad-rotor used for indoor purposes. The original controller of the Tello quad-rotor is supposed to be the slave, and the designed model predictive controller was created in MATLAB. The design was imported to another embedded system, considered the master. The objective of this model is to track the reference trajectory while maintaining the stability of the system and ensuring low energy consumption. The case study in this paper compares linear and nonlinear model predictive control (MPC). The results show the efficiency of NLMPC, which provides more promising results compared to LMPC. The comparison concentrates on the energy consumption, the tracked trajectory, and the execution time. The main finding of this research is that NLMPC is a good solution to smoothly track the reference trajectory. The controller in this case processes faster, but the rotors consume more energy because of the increased values of control inputs calculated by the nonlinear controller. Full article

(This article belongs to the Special Issue Energy Problems in Control and Robotics Systems)

► Show Figures

Figure 1

14 pages, 3464 KiB

Open AccessArticle

Creep Phenomenon in a Multiple-Input Single-Output Control System of a Piezoelectric Bimorph Actuator

by Dariusz Grzybek and Andrzej Sioma

Energies 2022, 15(21), 8267; https://doi.org/10.3390/en15218267 - 5 Nov 2022

Cited by 3 | Viewed by 1128

Abstract

This article presents a comparison of the course of a creep phenomenon in the control system of a bimorph actuator, in which control voltages were applied to both piezoelectric layers, with the course of the creep phenomenon in the control system of a unimorph actuator, in which a control voltage was applied to only one piezoelectric layer. The bimorph actuator was built from two layers of piezoelectric composite, macro fiber composite was applied, and a carrier layer made of epoxy laminate was used for production of printed circuit boards. A comparative analysis was carried out on the basis of 22 laboratory experiments in which the vision system was used to measure a displacement change of six points of the bimorph actuator structure. Based on the results of laboratory experiments, it was noted that the duration of a transient part is approximately the same in a system with a control voltage applied to one MFC patch as in a system with control voltages applied to two MFC patches. In the system with control voltages applied to two MFC patches, the position change due to the creep process is more than two times bigger in comparison to the system with the control voltage applied to one MFC patch. Full article

(This article belongs to the Special Issue Energy Problems in Control and Robotics Systems)

► Show Figures

Figure 1

15 pages, 4546 KiB

Open AccessArticle

Impact of a Connection Structure of Macro Fiber Composite Patches on Energy Storage in Piezoelectric Energy Harvesting from a Rotating Shaft

by Piotr Micek and Dariusz Grzybek

Energies 2022, 15(17), 6254; https://doi.org/10.3390/en15176254 - 27 Aug 2022

Cited by 2 | Viewed by 1133

Abstract

Energy collection in a capacitor, which was charged by four connection structures of Macro Fiber Composite (MFC) patches, was the subject of laboratory research. The first structure was the delta circuit created by three MFC patches and connected with a three-phase rectifier; the second structure was the delta circuit created by three MFC patches and connected with a three-phase rectifier; the third structure was the parallel connection of three circuits, each of which consisted of an MFC patch and a full bridge rectifier; and the fourth structure the series connection of three circuits, each of which consisted of an MFC patch and a full bridge rectifier. Laboratory experiments were carried out on a laboratory stand which consisted of a rotating shaft, three MFC patches powering an energy storage system, and a data acquisition system. The star connection generated the highest values of voltage across a capacitor in the long time period. The delta connection produced the highest capacitor-charging power. The shortest time to reach a target voltage on the capacitor equal to a few volts was achieved by use of the delta or parallel connection. The delta connection generated target voltage equal to a few volts across a capacitor in the shortest time at a lower level of stress in the shaft, but the difference between the charging times by the delta circuit and by the parallel connection decreased as the stress in the shaft increased. Full article

(This article belongs to the Special Issue Energy Problems in Control and Robotics Systems)

► Show Figures

Figure 1

17 pages, 4314 KiB

Open AccessArticle

Advanced Prototype of an Electrical Control Unit for an MR Damper Powered by Energy Harvested from Vibrations

by Arkadiusz Kozieł, Łukasz Jastrzębski and Bogdan Sapiński

Energies 2022, 15(13), 4537; https://doi.org/10.3390/en15134537 - 21 Jun 2022

Cited by 2 | Viewed by 1322

Abstract

The work deals with a newly developed prototype of an electrical control unit (ECU) for a magnetorheological (MR) damper powered by energy harvested from vibrations. The ECU, consisting of a rectifying bridge, a driver unit, a microcontroller, and an internal power supply system, is an advanced version of the specially designed processing system for energy harvested from vibrations and the use of this energy to control the MR damper. Unlike a typical MR damper control system in which electrical circuits are powered from an external energy source, the ECU is powered by a part of the energy extracted from a vibrating system using an electromagnetic harvester. However, the excess amount of energy recovered over that necessary to power the MR damper and electrical circuits can be collected in harvested energy storage. The study presents the design concept of the ECU, computer simulations of the in-built driver unit (DU), the method of connecting the ECU with the harvester, the MR damper and displacement sensors, and also describes experimental tests of the engineered unit applied in a vibration reduction system (VRS) with an energy recovery function. Full article

(This article belongs to the Special Issue Energy Problems in Control and Robotics Systems)

► Show Figures

Figure 1

Review

Jump to: Research

24 pages, 2688 KiB

Open AccessReview

An Overview of Energies Problems in Robotic Systems

by József Vásárhelyi, Omar M. Salih, Hussam Mahmod Rostum and Rabab Benotsname

Energies 2023, 16(24), 8060; https://doi.org/10.3390/en16248060 - 14 Dec 2023

Cited by 1 | Viewed by 855

Abstract

Considering the current world trends, the most challenging issue industry is facing revolves around how to reduce the power consumption of electronic systems. Since the invention of computers, electrical energy consumption has increased dramatically; this is due to the emergence of new systems in industry. Systems like industrial robots and autonomous vehicles—including electric vehicles (EVs) and unmanned aerial vehicles (UAVs)—have had a great impact in making human life easier but have also led to higher energy consumption. At present, researchers and developers are actively seeking solutions and patents to optimize the energy consumption of the mentioned systems and generate savings, with the goal of reducing their environmental impact and improving their efficiency and effectiveness. From the literature review, papers related to energy optimization and energy consumption are considered vital, and a huge number of research publications and survey papers discuss it. This paper presents a systematic review of the classification and analysis of various methodologies and solutions that have been developed to enhance the energy performance of robotic systems, focusing on industrial robots, autonomous vehicles, and embedded systems. The aim of this research is to provide a reference point for the existing methods, techniques, and technologies that are available. It compares and evaluates different hardware and software methods related to industrial robots, autonomous vehicles, and embedded systems, highlighting the possible future perspectives in the field. Full article

(This article belongs to the Special Issue Energy Problems in Control and Robotics Systems)

► Show Figures

Journal Menu

Journal Browser

Energy Problems in Control and Robotics Systems

Share This Special Issue

Special Issue Editors

Special Issue Information

Keywords

Published Papers (11 papers)

Research

Review

Further Information

Guidelines

MDPI Initiatives

Follow MDPI