Article
Automation & Control Systems
Changming Zheng, Zheng Gong, Xiaojie Wu, Tomislav Dragicevic, Jose Rodriguez, Frede Blaabjerg
Summary: This article proposes a FS-QSMPC scheme for LC-filtered VSIs to improve the output-voltage quality. By including a predictive sliding-mode function in the cost function, reduced steady-state ripple and enhanced robustness are achieved. Theoretical analysis and experiments verify the effectiveness and stability of the proposed approach.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Article
Automation & Control Systems
Wei Wei, Zhiyuan Zhang, Min Zuo
Summary: Hysteresis affects the accuracy of a piezoelectric nanopositioning system, leading to difficulties in maintaining satisfactory performance with inverse hysteresis model-based control. Linear active disturbance rejection control (LADRC) is a practical approach, but the phase lag of total disturbance estimation impacts its ability. By introducing a phase-leading extended state observer (PLESO), the system can compensate for total disturbance in a more timely manner, improving positioning accuracy.
Article
Chemistry, Analytical
Yong Dai, Duo Wang
Summary: This paper proposes a novel algorithm that combines robust sliding mode control (SMC) and tube model predictive control (MPC) to enhance the lateral path tracking control of autonomous vehicles (AV) in the presence of external disturbances. The proposed algorithm leverages the strengths of both MPC and SMC to achieve robustness and tracking accuracy, especially in the presence of unmodelled uncertainties and external disturbances.
Article
Automation & Control Systems
Geng Wang, Yongsheng Zhou, Lei Ni, Sumeet S. Aphale
Summary: This paper presents a new Global Fast Non-singular Terminal Sliding Mode Controller (GFNTSMC) that achieves high-precision tracking of high-frequency trajectories when applied to a piezo-driven nanopositioner. The control scheme combines inverse hysteresis model and global fast non-singular terminal sliding mode compensation. The proposed control strategy achieves global fast convergence with high accuracy and high bandwidth, and its stability is proved with the Lyapunov theory. Experimental results demonstrate its superiority over three benchmark control approaches and its wide-band stability and robustness to parameter uncertainty are also showcased.
Article
Mathematics
Guangwei Wang, Bo Wang, Chengxi Zhang
Summary: This paper introduces a novel third-order super-twisting-like integral sliding mode controller (3-ISMC) for trajectory tracking in nanopositioning applications. In contrast to traditional methods, this controller offers continuous control inputs to overcome chattering issues and ensure fixed-time convergence independently of initial conditions. Simulation results demonstrate that the proposed controller provides chattering-free and rapid transient response performance even under model uncertainties and external disturbances.
Article
Chemistry, Analytical
Jokin Uralde, Eneko Artetxe, Oscar Barambones, Isidro Calvo, Pablo Fernandez-Bustamante, Imanol Martin
Summary: Piezoelectric actuators (PEA) are high-precision devices used in applications requiring micrometric displacements. However, PEAs present non-linearity phenomena that introduce drawbacks at high precision applications. This paper presents a high precision control scheme to be used at PEAs based on the model-based predictive control (MPC) scheme, which uses artificial neural networks (ANN) to simplify the obtaining of the model. The experimental results show that the MPC control strategy achieves higher accuracy at high precision PEA applications.
Article
Acoustics
Xue Qi, Weijia Shi, Shaokai Wang, Bo Zhao, Jiubin Tan
Summary: This paper proposes a linear model predictive control scheme for compensating the nonlinearity of piezoelectric actuators (PEAs). The proposed scheme includes a global linearization predictor based on Koopman theory and a linear MPC optimization problem. The validity of the proposed scheme is demonstrated by experiments, showing a small steady-state error and improved computational efficiency.
Article
Automation & Control Systems
Asif Chalanga, Franck Plestan
Summary: This control technique uses integral sliding-mode concept, combining nominal control and super-twisting algorithm robust control for finite-time trajectory tracking of a perturbed electropneumatic actuator. Practical implementation in SISO and MIMO contexts is discussed, along with robustness to external disturbances.
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2021)
Article
Automation & Control Systems
Qingsong Xu
Summary: This article presents a novel adaptive integral terminal third-order finite-time sliding-mode control strategy for motion tracking control of a piezoelectric-driven nanopositioning system. The controller achieves finite-time convergence and chattering-free control action while estimating model uncertainty and updating control gains adaptively. Stability of the control strategy is proven through Lyapunov analysis, enabling precise third-order sliding-mode control and pre-specification of tracking error boundaries for the nanopositioning system. Results from simulations and experiments demonstrate the robust tracking performance of the developed controller in the presence of model uncertainty and external disturbances.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Automation & Control Systems
Lianhao Yin, Gabriel Turesson, Per Tunestal, Rolf Johansson
Summary: This paper combines receding horizon sliding control (RHSC) with a state-augmented Kalman filter to address model mismatch and disturbance problems, showing faster convergence rate than MPC in tracking reference signal in an advanced heavy-duty engine air system.
CONTROL ENGINEERING PRACTICE
(2021)
Article
Automation & Control Systems
Sai Zhang, Zicheng Li, Hou-Neng Wang, Tao Xiong
Summary: A fractional order sliding mode control (FOSMC) based on single parameter adaptive law is proposed for nano-positioning of Piezoelectric Actuators (PEAs), using the Bouc-Wen model to describe system hysteresis and identifying core parameters through hybrid differential evolution and adaptive differential evolution. Experimental results show that the proposed control scheme outperforms traditional control algorithms in terms of faster response and smaller tracking errors in PEAs system.
IET CONTROL THEORY AND APPLICATIONS
(2021)
Article
Computer Science, Information Systems
Pengyu Qiao, Jun Yang, Chen Dai, Xi Xiao
Summary: This paper presents a composite control strategy for piezoelectric nanopositioning stages, which incorporates a composite disturbance observer and a continuous terminal sliding mode controller to accurately estimate and control nonlinearities and external disturbances, achieving high-precision motion control.
Review
Engineering, Mechanical
Lijuan Yu, Jie Huang, Wei Luo, Shuyuan Chang, Huilu Sun, Hailong Tian
Summary: This article classifies and discusses the major sliding-mode control approaches for position control of PMLSM. Three conventional SMC methods and four advanced forms of SMC are presented, along with a comparison of their advantages and disadvantages in table form. This work serves as a valuable reference and provides important insight into position control of PMLSM systems.
Article
Automation & Control Systems
Leilei Guo, Nan Jin, Yanyan Li, Kui Luo
Summary: The article introduces an MPC strategy for grid-connected power converters to reduce current ripples without using AC voltage sensors, utilizing a sliding-mode observer with adaptive compensation algorithm to estimate grid voltage. The novel grid-voltage observation method is frequency adaptive without accurate grid angular frequency. By implementing MPC strategy with estimated grid voltage, current ripples are reduced, especially under distorted grid-voltage conditions.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Engineering, Electrical & Electronic
Tingting He, Mingli Wu, Dylan Dah-Chuan Lu, Kejian Song, Jianguo Zhu
Summary: This article presents a model predictive sliding control (MPSC) strategy with dynamic reference tracking for cascaded H-bridge multilevel converters, which combines nonlinear predicted sliding mode control (PSMC) and linear model predictive control (MPC) to achieve good performance in the presence of uncertainties and disturbances. Experimental tests have demonstrated the effectiveness of the proposed method in reducing current total harmonic distortion (THD) and improving dc-side performance.
IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS
(2022)
Article
Automation & Control Systems
Yuzhang Wei, Qian Zhou, Ziqiang Chi, Bing Ji, Bingpu Zhou, Qingsong Xu
Summary: In this paper, a new force-sensing microinjector with compliant mechanism is introduced. It offers high sensitivity in force sensing through a small stiffness in the direction of microinjection, while providing sufficient load-bearing capability in the lateral direction. The microinjector incorporates a combination of positive-stiffness and negative-stiffness mechanisms to achieve the desired small stiffness. Experimental results demonstrate a two-fold improvement in sensitivity compared to previous work. The developed microinjector has been successfully applied in detecting microinjection force during zebrafish larvae injection, showing promise in regulating the microinjection force.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2023)
Article
Automation & Control Systems
Iong Chio, Kaicheng Ruan, Zehao Wu, Kit Iong Wong, Lap Mou Tam, Qingsong Xu
Summary: This paper proposes a new autonomous disinfection robot based on aerosolized hydrogen peroxide disinfection method. The unique feature lies in the autonomous navigation planned by developing an atomization disinfection model and a target detection algorithm. A prototype robot has been fabricated for experimental study, and the effectiveness has been verified with monitoring provided by a qualified third-party testing agency.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2023)
Article
Automation & Control Systems
Zekui Lyu, Qingsong Xu, Limin Zhu
Summary: This article presents the design and development of a novel compliant vertical micropositioning stage (VMS) with a millimeter stroke and compact profile. The proposed stage design is inspired by lamina emergent mechanisms and is made of a plate-like material for out-of-plane motion. Analytical models of the stage's stiffness and resonant frequency are established and validated through simulation study. A prototype stage driven by a voice coil motor is fabricated for performance testing, which shows improved geometric advantages compared to existing vertical stages.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Chemical
Tingting Ye, Yangmin Li
Summary: In the last decades, the rapid development of transfer printing technology has created a potential demand for 2-DOF rotation stages. The use of compliant mechanisms in 2-DOF decoupled rotation stages has proven to be advantageous in decoupling modeling, improving motion accuracy, and simplifying control methods. A novel 2-DOF decoupled rotation stage was synthesized, with the critical components being the topological arrangement and a new decoupled compound joint. Finite element analysis (FEA)-based neural network modeling and optimization were applied to predict rotation strokes, coupling ratios, and optimize structural parameters. FEA simulations were then conducted to investigate the static and dynamic performances of the proposed rotation stage, demonstrating larger rotation strokes, lower coupling ratios, and higher natural frequencies compared to other works.
Article
Automation & Control Systems
Zhengyang Li, Zhenjing Li, Lap Mou Tam, Qingsong Xu
Summary: This article introduces a versatile quadruped climbing robot (QCR) with multidegree-of-freedom legs and adhesive vacuum suckers. The robot is capable of climbing, omnidirectional locomotion, large obstacle overcoming, and manipulation. The kinematic and quasi-static climbing models have been derived and the robot's performance has been verified through experiments.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Automation & Control Systems
Ziqiang Chi, Qingsong Xu, Nana Ai, Wei Ge
Summary: This study proposes a high-throughput robotic microinjection system for zebrafish larvae, utilizing image contour and deep learning machine vision methods to achieve continuous and accurate microinjection operations. Experimental results show that the system can rapidly inject zebrafish larvae with a high success rate, greatly alleviating the workload of experimenters.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Mechanical
Zekui Lyu, Qingsong Xu
Summary: This paper proposes a new XY compliant parallel manipulator with a large workspace and low coupling motion by using a planar arrangement of multistage parallelogram mechanisms. The manipulator's driving stiffness and resonant frequency are calculated based on statics and dynamics analysis. Finite element analysis is used to verify the accuracy of the analytical model. A prototype of the manipulator is fabricated and tested, showing a workspace of 1.51 cm x 1.48 cm and coupling ratios of 1.11% and 1.06% for the two axes. The compactness of the design is compared to existing ones using a volume ratio indicator.
MECHANISM AND MACHINE THEORY
(2023)
Article
Multidisciplinary Sciences
Zichen Xu, Zehao Wu, Mingzhe Yuan, Yuanhe Chen, Wei Ge, Qingsong Xu
Summary: In this paper, a novel design of magnetic hydrogel soft capsule microrobots is reported, which can maintain the completeness of cargo and achieve on-demand cargo release during long navigations in complex environments of the internal human body with almost no loss. Suspension droplets are produced using CaCl2 solution and magnetic powders and then put into sodium alginate solution to generate magnetic hydrogel membranes for enclosing microrobot swarms and cargos. Low-density rotating magnetic fields drive the microrobots, while strong gradient magnetic fields break the mechanical structure of the hydrogel shell to implement on-demand release. Under the guidance of ultrasound imaging, the microrobot is remotely controlled in acidic or alkaline environments, similar to those in the human digestion system. The proposed capsule microrobots provide a promising solution for targeted cargo delivery in the internal human body.
Article
Robotics
Zehao Wu, Qingsong Xu, Nana Ai, Wei Ge
Summary: This paper presents a novel magnetically actuated biaxial robot that integrates magnetic torque and force driving. The robot enables grasping, rotating, and transporting operations of the target object, achieved by electromagnetic coils and permanent magnets. Analytical models are established and the structural parameters are optimized through simulation. Experimental tests with a prototype show the robot's effectiveness in biological sample handling.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Robotics
Haoran Chen, Zichen Xu, Zhengyang Li, Qingsong Xu
Summary: This paper proposes a new magnetic-steered bioprinting system that can perform bioprinting tasks in a less invasive manner. The system integrates the advantages of rigid tube and flexible pipe through the design of a hybrid printing pipe.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Remote Sensing
Li Ding, Guibing Zhu, Yangmin Li, Yaoyao Wang
Summary: This paper focuses on the design, modeling, and control of an unmanned aerial manipulator (UAM) for water sampling. A novel cable-driven UAM is designed, which reduces the inertia ratio of the manipulator. The quadrotor and manipulator are controlled separately using backstepping control and fast terminal sliding mode control techniques. Disturbance observer and extended state observer serve as compensators. Simulation results show the superior performance of the proposed controllers in water quality sampling.
Article
Automation & Control Systems
Kai Feng, Ming Lei, Xianli Wang, Bingpu Zhou, Qingsong Xu
Summary: Human-machine interaction plays a significant role in industry and medical fields. However, conventional interfaces lack feedback information and flexibility, limiting their application scenarios. This study proposes a flexible bidirectional interface with integrated multimodal sensing and haptic feedback, which can accurately perceive various human movements.
ADVANCED INTELLIGENT SYSTEMS
(2023)
Article
Automation & Control Systems
Zhongyi Guo, Zekui Lyu, Qingsong Xu
Summary: This article presents a novel reconfigurable piezoelectric-driven microgripper that achieves excellent static and dynamic performance for complex micromanipulation. It introduces a flexure-based compliant microgripper and establishes its analytical model based on beam deformation theory and pseudo-rigid-body modeling approach. The microgripper's structural parameters are determined through multiobjective optimization using response surface methodology. A finite-element model-based simulation study evaluates the gripper's static and dynamic performance, and experimental testing with a prototype demonstrates its micromanipulation capability.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Electrical & Electronic
Xiaoming Zhao, Xingming Wu, Weihai Chen, Peter C. Y. Chen, Qingsong Xu, Zhengguo Li
Summary: Image keypoints and descriptors are important for visual measurement tasks. Deep neural networks have been used to improve their performance. However, conventional convolution operations lack the required geometric invariance for the descriptor. To address this, we propose the sparse deformable descriptor head (SDDH), which learns deformable positions of features for each keypoint. SDDH extracts descriptors at sparse keypoints, enabling efficient extraction with strong expressiveness.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2023)
Article
Automation & Control Systems
Zekui Lyu, Zehao Wu, Qingsong Xu
Summary: This paper presents the design and development of a new flexure-based XYZ micropositioner with a hybrid kinematic configuration. The XYZ micropositioner features a sizable workspace with a compact architecture, and its Z-axis crosstalk error is compensated by closed-loop motion control. Experimental results show reduced vertical crosstalk error and a promising approach for ultrahigh precision applications.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2023)
