Mechatronics最新文献

Global kinodynamic motion planning for an underactuated timber crane with stochastic trajectory optimization 基于随机轨迹优化的欠驱动木起重机整体运动规划

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-04-29 DOI: 10.1016/j.mechatronics.2025.103319

Marc-Philip Ecker , Bernhard Bischof , Minh Nhat Vu , Christoph Fröhlich , Tobias Glück , Wolfgang Kemmetmüller

引用次数: 0

Data-driven frequency-domain iterative learning control with transfer learning 基于迁移学习的数据驱动频域迭代学习控制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-04-27 DOI: 10.1016/j.mechatronics.2025.103327

Yu-Hsiu Lee, Yu-Hsiang Chin, Chun-Yuan Hsueh

{"title":"Data-driven frequency-domain iterative learning control with transfer learning","authors":"Yu-Hsiu Lee, Yu-Hsiang Chin, Chun-Yuan Hsueh","doi":"10.1016/j.mechatronics.2025.103327","DOIUrl":"10.1016/j.mechatronics.2025.103327","url":null,"abstract":"<div><div>Data-driven iterative learning control (ILC) can achieve improved tracking performance over model-based ILC by eliminating the fitting error from parametric system representations. Existing data-driven approaches in frequency domain take advantage of the affordability and speed associated with acquiring non-parametric frequency response function data for effective learning. However, the quality of data significantly influences the achievable performance. Additionally, a notable drawback is that learning is reset whenever the tracked trajectory changes, despite having learned similar frequency contents before. Extending these approaches to multivariate systems with non-negligible coupling is also not straightforward. This paper aims to address the aforementioned challenges in data-driven ILC by employing spectral analysis (SA), which improves the learned data-driven inversion by mitigating the measurement noise. Fast and robust convergence is made possible through an iteration-varying learning gain. Also proposed is a transfer learning strategy in the frequency domain, wherein the inversion learned in specific frequency bin(s) will be preserved and utilized to expedite convergence in subsequent tasks. The presented ILC algorithm based on SA naturally extends to the multi-input multi-output (MIMO) framework, and the convergence can be ensured by complex-valued matrix analysis. The methodology is experimentally validated on a galvanometer for the SISO case and an H-type dual-drive gantry system for the MIMO case, demonstrating enhanced performance, transfer learning capabilities, and applicability to MIMO systems.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"108 ","pages":"Article 103327"},"PeriodicalIF":3.1,"publicationDate":"2025-04-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143877344","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

CAOC: Cooperative adaptive optimal control algorithm for networked direct current servo systems 网络直流伺服系统的协同自适应最优控制算法

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-04-27 DOI: 10.1016/j.mechatronics.2025.103312

Loi Ho Thai-Dai, Luy Nguyen Tan, Dung Nguyen Le, Lam Phan Huynh, Giap Nguyen Hoang

{"title":"CAOC: Cooperative adaptive optimal control algorithm for networked direct current servo systems","authors":"Loi Ho Thai-Dai, Luy Nguyen Tan, Dung Nguyen Le, Lam Phan Huynh, Giap Nguyen Hoang","doi":"10.1016/j.mechatronics.2025.103312","DOIUrl":"10.1016/j.mechatronics.2025.103312","url":null,"abstract":"<div><div>This letter proposes a novel cooperative adaptive optimal control (CAOC) algorithm for networked direct current servo (DCS) systems to achieve tracking synchronization in a cooperative system, where the leader generates the desired speed and the DCS followers track its output and synchronize with their own neighbors according to the communication graph topology in real time. As consensus tracking error dynamics is affected by the control inputs of the neighboring agents, the cost function for each agent includes not only its consensus tracking error and energy, but also the energies of the neighbors. Firstly, based on the Lyapunov theory and backstepping techniques, we design feedforward controllers that generate augmented control inputs to transform local consensus tracking dynamics in strict feedback form into affine form. Secondly, based on adaptive dynamic programming (ADP), we design the CAOC algorithm to minimize the performance index function. Finally, we conduct the simulation and experiment on the STM32F103 microcontrollers to validate the effectiveness of the proposed algorithm.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"108 ","pages":"Article 103312"},"PeriodicalIF":3.1,"publicationDate":"2025-04-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143877343","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Mass flow control using estimated output feedback in semiconductor processes 半导体过程中使用估计输出反馈的质量流控制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-04-26 DOI: 10.1016/j.mechatronics.2025.103320

Kotaro Takijiri, Kazuki Nakata, Daisuke Hayashi

引用次数: 0

High-precision and high-speed flow rate control with nonlinear disturbance compensation using valve body position feedback 采用阀体位置反馈非线性扰动补偿的高精度高速流量控制

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-04-26 DOI: 10.1016/j.mechatronics.2025.103317

Koki Hattori, Wataru Ohnishi, Takafumi Koseki

引用次数: 0

Trade-off between flight performance and energy consumption of a quadrotor 四旋翼飞行器的飞行性能和能量消耗之间的权衡

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-04-24 DOI: 10.1016/j.mechatronics.2025.103316

Augusto H.B.M. Tavares , Saulo O.D. Luiz , Tiago P. Nascimento , Antonio M.N. Lima

{"title":"Trade-off between flight performance and energy consumption of a quadrotor","authors":"Augusto H.B.M. Tavares , Saulo O.D. Luiz , Tiago P. Nascimento , Antonio M.N. Lima","doi":"10.1016/j.mechatronics.2025.103316","DOIUrl":"10.1016/j.mechatronics.2025.103316","url":null,"abstract":"<div><div>This paper studies analytically and quantitatively the influence of the power source on the dynamic performance of the altitude control system of a quadrotor powered by an electrochemical battery. This paper also proposes the formulation of the altitude control system design as a constrained optimization problem in which the drone, actuators, control law, and electrochemical battery models are considered, to define a trade-off between the power consumption rate and the closed-loop dynamic performance loss. An analytical representation of the effect of the battery discharge over the altitude dynamics is obtained through a linear approximation, enabling an analysis of the system poles. The problem of designing an altitude controller is then posed as a constrained optimization problem that can include the battery as a factor. A comparison of the error transient response between the cases of the battery-unaware controller design and the battery-aware controller design is performed in simulations and experimental flight tests. The results lead to the following conclusions: i. the analytical demonstration agrees with the worse performance observed in the in-flight dynamics as the battery discharges and ii. through a battery-aware controller design approach this effect can be diminished, at the cost of a trade-off in the battery discharge rate.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"108 ","pages":"Article 103316"},"PeriodicalIF":3.1,"publicationDate":"2025-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143865076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Optimal design and dynamic trajectory planning of a 2-DOF cable-suspended palletizing robot with parallelogram cable loop 具有平行四边形索环的二自由度悬索码垛机器人的优化设计与动态轨迹规划

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-04-23 DOI: 10.1016/j.mechatronics.2025.103330

Hanqing Liu , Jinhao Duan , Zhufeng Shao , Stéphane Caro

{"title":"Optimal design and dynamic trajectory planning of a 2-DOF cable-suspended palletizing robot with parallelogram cable loop","authors":"Hanqing Liu , Jinhao Duan , Zhufeng Shao , Stéphane Caro","doi":"10.1016/j.mechatronics.2025.103330","DOIUrl":"10.1016/j.mechatronics.2025.103330","url":null,"abstract":"<div><div>To fabricate high speed, vast workspace, energy saving, and light weight of the logistics equipment, this paper proposes geometric and trajectory optimization methods for the cable-suspended parallel robot (CSPR), which is a two-degree-of-freedom (2-DOF) robot with a parallelogram cable loop, realizing the efficient palletizing operation with dynamic trajectories. Based on kinematic and dynamic models, the Torsion Resistance Ability Index (TRAI) and Torsion Resistance Consumption Index (TRCI) are proposed to indicate the torsion resistance performance of the CSPR with the parallelogram cable loop. A geometric optimization method is established with the reference dynamic trajectory, which provides an approach to carry out the optimal design of the CSPRs considering dynamic trajectories for the first time. For industrial palletizing, a planning method on the dynamic trajectory is proposed considering the obstacle avoidance based on the Fourier and Polynomial models. A prototype of the 2-DOF CSPR is established, and the palletizing experiments are carried out, providing a novel high-efficiency palletizing robot and technology.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"108 ","pages":"Article 103330"},"PeriodicalIF":3.1,"publicationDate":"2025-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143860221","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Data association leveraging extrinsic parameter consistency for multi-object detection in maritime environment 利用外部参数一致性的数据关联在海洋环境下的多目标检测

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-04-19 DOI: 10.1016/j.mechatronics.2025.103318

Jonghwi Kim , Sol Han , Jinwhan Kim

引用次数: 0

A singularity-restrained kinesthetic teaching method for collaborative robots 协作机器人奇点约束动觉教学方法

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-04-12 DOI: 10.1016/j.mechatronics.2025.103313

Chunxin Li, Jianhua Wu, Zhenhua Xiong

引用次数: 0

Transcending the acceleration-bandwidth trade-off: Over-actuated precision motion stages with selective compliance and servo stiffness 超越加速度-带宽权衡：具有选择性顺应性和伺服刚度的过度驱动精密运动阶段

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-04-11 DOI: 10.1016/j.mechatronics.2025.103314

Jingjie Wu, Lei Zhou

{"title":"Transcending the acceleration-bandwidth trade-off: Over-actuated precision motion stages with selective compliance and servo stiffness","authors":"Jingjie Wu, Lei Zhou","doi":"10.1016/j.mechatronics.2025.103314","DOIUrl":"10.1016/j.mechatronics.2025.103314","url":null,"abstract":"<div><div>In today’s precision positioning systems, there exists a fundamental trade-off between control bandwidth and achievable acceleration due to the structural material’s stiffness-to-weight ratio limit and existing control techniques. This trade-off severely limits the throughput of photolithography machines and wafer inspection systems for integrated circuit manufacturing, which directly depends on the acceleration and control performance of the wafer and photomask positioning stages. Aiming to break this trade-off and to enable new lightweight stages with further enhanced acceleration without sacrificing control performances, this paper proposes a novel hardware and control co-design paradigm for over-actuated precision positioning stages that integrates <em>servo-stiffness</em> and <em>selected compliance</em>. The key idea is to (a) stiffen the component’s flexible dynamics through <em>servo-stiffness</em>, i.e., actively control the structure’s flexible dynamics using additional actuators and sensors, and (b) smartly introduce structural compliance in the actively controlled flexible modes to reduce weight and to facilitate controller synthesis. A sequential design optimization framework for the proposed methodology is presented, and an over-actuated magnetically levitated planar motion stage embodying the proposed approach, which we call the <em>FleXstage</em>, is designed and built for performance evaluation. Simulation shows that the proposed design provides 24% reduced weight and 2.4 times control bandwidth improvement compared to a baseline lightweight stage, and experimental results of the FleXstage prototype align well with simulation predictions. These results demonstrate the feasibility and potential of the proposed methodology.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"108 ","pages":"Article 103314"},"PeriodicalIF":3.1,"publicationDate":"2025-04-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143822394","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0