Active Control Strategy Research Articles

Adaptive neuro-fuzzy inference system based active force control with iterative learning for trajectory tracking of a biped robot

ABSTRACT We investigate the integration of the active force control (AFC) scheme and the adaptive neuro-fuzzy inference system (ANFIS) as an intelligent controller algorithm to address trajectory-tracking problems in robotic systems, The AFC-ANFIS model exploits iterative learning (IL) to improve the tracking performance based on its trained model. The ANFIS parameters are tuned using both particle swarm optimisation (PSO) and beetle antennae search (BAS) algorithms. The simulation results of two different robots, i.e. a five-link biped robot and a PUMA 560 robot arm, indicate that the proposed AFC-ANFIS controller performs well for trajectory tracking and disturbances rejection. The AFC-ANFIS performance is evaluated and compared with those from other controllers using the average tracking error (ATE) metric. The comparative results reveal that AFC-ANFIS offers a viable approach with a rapid training process to undertaking trajectory tracking and disturbance rejection tasks.

Active constrained motion control for a robot-assisted endoscope manipulator in pediatric minimal access surgery.

Robot-assisted laparoscopic surgery has three main system requirements: safety, simplicity, and intuitiveness. However, accidental movement of the endoscope due to body fatigue and misunderstanding of the verbal orders between the surgeon and assistant will contribute to highly unexpected tool-tissue interactions, particularly in pediatric minimal access surgery with restricted working space. This study introduces a compact, lightweight endoscope manipulator with a mechanical remote-center-motion function. Using a custom-designed human-machine interface, the surgeon can intuitively control the movement of the endoscope manipulator over their view. In addition, an active constrained motion control algorithm is proposed to generate a forbidden-region constraint for avoiding collisions between the endoscope tip and surrounding organs in a pediatric abdominal cavity with restricted space. Simulations and experiments demonstrate the performance of the proposed compact endoscope manipulator and the active constrained surface tracking control scheme.

Fixed-time active fault-tolerant control for a class of nonlinear systems with intermittent faults and input saturation

In this paper, the problem of fixed-time active fault-tolerant control is studied for systems with sector-bounded nonlinearities, intermittent faults, and input saturation. Since intermittent faults appear and disappear randomly, a fixed-time scheme is considered in the active fault-tolerant control algorithm, composed of detection, isolation, estimation, and the control unit. Utilizing homogeneity-based observers, the fixed-time state estimation is available in the presence of unknown but bounded disturbances, and a fault diagnosis unit is proposed. An input saturation compensator is introduced to analyze the effect of input saturation, and its auxiliary variables are used in the reconfigurable control law. The fault-tolerant controller, which is constructed via the information provided by the fault diagnosis unit and saturation compensator, has two switching modes. As a consequence, intermittent faults are compensated via the designed active fault-tolerant control method and the system reaches practical stability with the entire convergence time bounded in a fixed time. Finally, the example of a heat control system is exploited to demonstrate the effectiveness of the developed active fault-tolerant control scheme.

Study on Dynamic Characteristics of Single-Span Rotor Under Cross-Coupling Stiffness Control on Non-drive End

Abstract The sealing-induced cross-coupling stiffness (CCS) often decreases the rotordynamic stability of turbomachinery. In our previous study, an active negative CCS control strategy applied between two bearings in the middle of the rotor was validated to enhance the stability of the rotor system. In this paper, a different approach was taken by applying both positive and negative CCS control strategies to the non-drive end, aiming to investigate their effects on rotordynamic stability using a rotordynamic model. The model represented a single-span centrifugal compressor rotor with CCS at the seal node. The logarithmic decrements and unbalance response of the rotor system were compared under different CCS applications at the non-drive end and in the span. The results demonstrate that applying both positive and negative CCS at the non-drive end can improve system stability, but the positive CCS strategy has limitations, and its applicability is not as extensive as Negative CCS. A “critical stiffness” phenomenon emerges when the rotor system is actively stabilized at the non-drive end, resembling critical resonance. Furthermore, when components like seals introduce cross-coupling stiffness out of the span, they contribute to system stabilization. These findings provide valuable insights into actively enhancing the stability of rotor systems.

Research on a Bridge Hybrid Isolation Control System Based on PID Active Control and Genetic Algorithm Optimization

A bridge hybrid isolation system, integrating both active and passive control strategies, is proposed and investigated to enhance seismic performance. The system is modeled as a two-layer structure, with the upper layer subjected to active control via a Proportional–Integral–Derivative (PID) controller, and the lower layer employing a conventional passive base isolation system. The displacement response of the superstructure is minimized by the control forces generated by the PID controller, which also accounts for the reaction forces transmitted to the lower isolation layer. To optimize the controller’s performance, a genetic algorithm is implemented for real-time tuning of the PID parameters. Numerical simulations, conducted using the Newmark method, are employed to assess the influence of active control on the lower isolation system. The results reveal that, while active control increases the peak displacement of the superstructure to some extent, it significantly prolongs the structural period, thus enhancing the system’s overall seismic resilience and stability.

Active Support Pre-Synchronization Control and Stability Analysis Based on the Third-Order Model of Synchronous Machine

When traditional grid-forming converters directly participate in the grid-connected operation of the power grid, due to the lack of a pre-synchronization control system, the voltage amplitude and initial phase on both sides of the grid-connected point will deviate, resulting in voltage and current distortion during grid-connected mode. An active support phase-locked loop free pre-synchronization control strategy based on the third-order model of a synchronous generator is proposed to address the grid-connected problem of the grid-forming converter mentioned above. First, a model of active support control with frequency integral feedback at small signal levels was constructed. The root locus method was employed to examine how system parameters affect the stability of the active support control system. Second, by adding phase pre-synchronization controllers and amplitude pre-synchronization controllers to the active frequency loop and excitation voltage loop of the third-order model, it was ensured that the frequency, phase, and voltage amplitude of the unit are consistent with the power grid, achieving a fast and smooth grid-connected mode of the unit. Finally, by using a DC source to simulate all types of new energy power generation equipment, the active support pre-synchronization control system based on the three-order model of synchronous generator is built in the MATLAB/Simulink simulation environment, and the accuracy and effectiveness of the control strategy in this paper is verified.

Effects of Perforated Plates on Shock Structure Alteration for NACA0012 Cascade Configurations

To alleviate the shock boundary layer interaction adverse effects, various active or passive flow control strategies have been investigated in the literature. This research sheds light on the behavior of perforated plates as passive flow control techniques applied to NACA0012 airfoils in cascade configurations. Two identical perforated plates with shallow cavities underneath are accommodated on the upper and lower surfaces of each airfoil in the cascade arrangement. Six different cascade arrangements, including a baseline configuration with no control applied, are additively manufactured, with different perforated plate orifice sizes in the range of 0.5–1.2 mm. A high-speed wind tunnel with Schlieren optical diagnosis and wall static pressure taps is used to investigate the changes in the shock waves pattern triggered by the perforated plates. Steady 3D density-based numerical simulations in Ansys FLUENT are conducted for further analysis and validation. In the cascade configuration, the perforated plates alter the shock structure, and the strong normal shock wave is replaced by a weaker X-type shock structure. Eventually, a 1% penalty in overall total pressure loss is induced by the perforated plates because of the negative loss balance between the reduced shock losses and the enhanced viscous losses. Further studies on perforated plate geometrical features are needed to improve this outcome in a cascade arrangement.

Feedback control of thermoacoustic instabilities in sequential combustor with nanosecond repetitively pulsed discharges

Controlling thermoacoustic instabilities is a necessary task for the development and operation of gas turbines. With the increasing proportion of renewable energy sources, gas turbines must have flexibility in terms of both fuel and load. This implies that thermoacoustic instabilities must be controlled under different operating conditions. Active control strategies are indeed very suitable in this case, as they can adapt to the changes in operating conditions. Nanosecond repetitively pulsed discharges (NRPD) has shown to be promising active control actuators because they require no moving parts. In this study, the effectiveness of feedback and open-loop control law with NRPD actuation to suppress thermoacoustic instabilities in a lab-scale sequential combustor is evaluated. The effect of the controller parameters on the NO emissions of the combustor is also quantified. The results indicate that there is a trade-off between acoustic pulsation reduction and NO emission.

A control strategy of DC transmission system for offshore wind power based on hybrid converters

Abstract As the DC transmission system of modular multilevel converters for offshore wind power suffers problems like large volume, heavy weight, difficulty in platform transportation, and high cost, a DC transmission scheme for offshore wind power based on diode rectifier units and modular multilevel converters is put forth in the present work; Meanwhile, the features of active-power coordination, the DC harmonic current, and the AC harmonic current of the hybrid converter in this proposed scheme are analyzed to propose control strategies for active power coordination control, DC harmonic current suppression, and AC harmonic current suppression of the hybrid converter, respectively. The performance and feasibility of the proposed strategies are verified by testing the hardware in the loop real-time simulation system for transmission of offshore wind power through hybrid converters based on RTDS. It is found that the proposed strategies could improve the stability, flexibility, and reliability of the system.

Enhancing stability and performance of flexible membrane structures in wake flows through jet flow control

This study investigates jet flow control on flexible membrane structures placed in the wake of a stationary cylinder to enhance performance and stability. Flexible membranes, found in both nature and engineering, often face nonlinear disturbances where passive deformation is insufficient. Inspired by adaptive fish fins, we explore active flow control strategies using a high-fidelity fluid–structure interaction solver to simulate the dynamics of a flexible membrane downstream of a cylinder. High-momentum jet flows with different momentum coefficients are applied at membrane leading edge to modulate the boundary layer flow features. Numerical simulation results reveal that jet flow control can weaken the wake interference effect on the membrane dynamics, resulting in lift improvement and flow-induced vibration suppression. The flow separation within the boundary layer is suppressed by high-momentum jet flows, thereby enhancing lift performance and stability. The reason of the flow-induced vibration suppression is attributed to the redistribution of the vibration energy in high-order structure modes excited by jet flows. Our results demonstrate that jet control has great potential for optimizing the performance and stability of flexible membrane structures in complex flow environments, providing valuable insights into the design of next-generation intelligent underwater vehicles and ships with flexible membrane propulsion systems.

Active disturbance rejection control for spacecraft relative motion in libration point orbits subject to actuator saturation and time-delays

This paper proposes a novel active disturbance rejection control (ADRC) scheme to achieve the spacecraft relative pose synchronization in the libration orbits under the constrations of the actuator saturation and time-delays. The relative kinematics and dynamics between two spacecraft are modeled using dual quaternions to avoid singularity. A set of dimensionless variables is introduced to improve computational accuracy. An extended state observer, consisting of a time-delay predictor and an anti-windup compensator, is designed to address actuator saturation and communication time delays. A composite controller is then proposed, based on the designed observer, to mitigate the impact of total disturbances. Finally, two illustrative numerical simulations, including a spacecraft close rendezvous and docking scenario and a formation flying scenario, are provided to verify the effectiveness of the proposed ADRC scheme.

Reliably estimating the impact of an active control strategy in a building

Reliably estimating the impact of an active control strategy in a building

Analysis of disturbance factors of magnetorheological damper in continuous impact buffer system

Abstract Magnetorheological (MR) impact buffering systems are widely used in vehicle suspensions, bridge damping, and aircraft landing gear due to their excellent buffering performance and rapid response time. However, under the condition of high-speed continuous impact, magnetorheological damper (MRD) operate in complex environments where various internal and external uncertainties can negatively affect control performance. This paper analyzes the impact of disturbance signals on MR buffering systems and explores control strategies to mitigate these effects. First, we established a hysteresis model based on experimental data and identified parameters using a genetic algorithm to determine the influence of hysteresis disturbances. Next, we developed a temperature model based on the thermal characteristics of SG-MRF2035 magnetorheological fluid, fitting the relationship between temperature and dynamic viscosity to identify temperature disturbances. The results showed that when disturbances were considered, the system exhibited higher peak damping forces and a deviation from the desired ‘platform effect’ in the damping force-displacement relationship. Finally, we applied an Active Disturbance Rejection Control(ADRC) strategy, which effectively compensated for the hysteresis and temperature disturbances, enhancing the system’s robustness. Compared to PID control, the ADRC-controlled system demonstrated lower peak damping forces and a damping force-displacement relationship closer to the desired platform effect.

Analytic Hierarchy Process (AHP)-Based Evaluation of Extremely-Low-Frequency Magnetic Field Contribution Rates

The extremely-low-frequency (ELF) magnetic fields of submarines serve as key characteristics for target detection, with their formation mechanisms being complex and diverse. Effectively manipulating a submarine to reduce its magnetic signature is crucial for enhancing its magnetic stealth capabilities. However, current research on the impact of various causative factors is insufficient. This study proposes a contribution rate assessment method based on the Analytic Hierarchy Process (AHP) model, aiming to provide a theoretical basis for effective manipulation. Initially, a thorough analysis of the threat causes of a submarine’s ELF magnetic fields is conducted, and a corresponding hierarchical threat structure model is established. Subsequently, magnetic field signal characteristics generated by different causes are obtained through simulation, and threat matrices and characteristic matrices are constructed. Finally, the contribution rates of different causative magnetic fields to the total magnetic field are calculated, and the simulation results validate the effectiveness of the method. At the stern detection line, the contribution rate of the wake magnetic field is the highest, reaching 0.7649. Along the radial detection line, the contribution rate of the shaft frequency magnetic field is the highest and gradually decays, eventually falling below the wake magnetic field at 150 m and remaining at an approximately 0.5 contribution rate. This study calculates the contribution rates under different operational conditions and detection scenarios, laying a technical foundation for research on the comprehensive active control strategies of submarine ELF magnetic fields in different scenarios.

A comprehensive study of recent studies on the efficiency of axial flow turbines with an investigation on blade profile modifications in stator and rotor assemblies

Axial flow turbines are crucial in energy production and propulsion across diverse applications. As global energy needs rise, optimizing turbine efficiency is paramount. This review delves into the aerodynamic design of turbine blades, specifically examining blade profile modifications in both stator and rotor assemblies of state-of-the-art models proposed in the studies from 2019 to 2024. The focus is on mitigating performance discrepancies between idealized simulations and real-world applications, which present significant challenges such as inconsistencies in computational fluid dynamics (CFD) predictions and manufacturing constraints. Key findings from this review highlight a potential efficiency gain of 1%–3% through optimal blade designs that reduce incidence losses, secondary flows, and tip vortex formation. Advanced modeling techniques, including high-fidelity, multi-objective optimization with machine learning, are evolving to better predict and enhance turbine performance. However, gaps remain in system-level integration and the limited experimental data restricts comprehensive validation of these new designs. The insights from this review will aid the research community by identifying critical areas for future investigation, such as integrating blade aerodynamics with heat transfer and structural mechanics. Further, it emphasizes the need for exploring combinations of passive and active flow control strategies to fully harness the benefits of blade profile enhancements. These efforts are crucial for achieving substantial improvements in turbine efficiency, which are essential for meeting the growing demands for sustainable and efficient energy production.

Active Disturbance Rejection Control of Hydraulic Quadruped Robots Rotary Joints for Improved Impact Resistance

Hydraulic actuated quadruped robots have bright application prospects and significant research values in unmanned area investigation, disaster rescue and other scenarios, due to the advantages of high payload and high power to weight ratio. Among these fields, inevitable collision of robots may occur when contact with unknown objects, step on empty objects, or collapse, all of which have an impact on the working hydraulic system. To overcome the unknown external disturbances, this paper proposes an active disturbance rejection control (ADRC) strategy of double vane hydraulic rotary actuators for the hip joints of the quadruped robots. Considering the order of the valve-controlled actuator model, a three-stage tracking differentiator, a four-stage extended state observer, and a state error feedback controller are designed relatively, and the extended state observer is adopted to observe and compensate the uncertainty of external load torque of the system. The effectiveness of the ADRC method is verified in simulation environment and a single joint experimental platform. Moreover, the impact experiments of the limb leg unit are carried out after introducing the proposed ADRC strategy into hip joint, the limb leg unit of quadruped robots presents better impact resistance ability.

Research on Active Trailer Steering Control Strategy of Tractor Semitrailer under Medium-/High-Speed Conditions

Abstract: The study proposes an active trailer steering control method for tractor semitrailers to promote the path tracking effect of the trailer portion as well as lateral stability during lane changing. Firstly, a simplified model of a tractor semitrailer is constructed, and the MAP map is formed based on the genetic algorithm for the identification of the key parameters, which improves the model’s accuracy. Then the tractor and trailer’s yaw rate and sideslip angle at CG are tracked as the control objective and the trailer angle distribution strategy is given. Then the LQR-based corner controller is designed to control the steering actuators of each axle of the trailer. Finally, the effectiveness of the designed control strategy is verified based on the Trucksim/Simulink joint simulation platform and the semi-physical HiL test platform. The simulation results show that the designed controller can effectively improve the path tracking effect of the tractor and the trailer, and at the same time, the lateral stability parameters of the tractor and the trailer are also significantly improved, which improves the driving stability of the tractor semitrailer.

An efficient tracking differentiator based active disturbance rejection control for flight environment simulation system

The flight environment simulation system plays a crucial role in aeroengine testing, replicating real mission pressure and temperature conditions. However, existing systems face challenges in handling strong measurement noises and total disturbances during transient tests, leading to inaccurate simulations and potential actuator damage. To address these gaps, an enhanced tracking differentiator based active disturbance rejection control scheme is proposed and implemented. Our method introduces two key innovations: a discrete-time optimal control law that dynamically adjusts control inputs based on state transition and sampling times, and a phase-advancing method that mitigates filtering phase delays by incorporating derivative signals to predict input trends. These components are integrated into a novel tracking differentiator, enhancing the estimation capability of the extended state observer in active disturbance rejection control. Frequency-domain analysis demonstrates the proposed tracking differentiator's superior filtering performance and phase quality. Simulations of intake environment pressure during aeroengine transient tests reveal that, compared to traditional tracking differentiator-based active disturbance rejection control, the proposed approach significantly reduces both control signal oscillations and setpoint deviations by 75.44% and 53.9%, respectively. These improvements effectively address environment simulation deviations and unnecessary actuator wear, thereby enhancing the accuracy and reliability of aeroengine testing.

High-precision temperature control of helium Joule–Thomson cryocooler: Long-term temperature stability

To meet the refrigeration requirements of scientific instruments for mK-level temperature stability over a long-time range in the liquid helium temperature, the temperature characteristics and high-precision control strategies of the helium Joule-Thomson cryocooler (JTC) have been experimentally investigated for the first time. Based on the Ideal Gas Law, the influencing mechanism of pre-cooling temperature, gas reservoir volume, and liquid phase volume fraction on refrigeration temperature were qualitatively analyzed and experimentally verified. An active control studies of pre-cooling temperature, low-pressure and heat load were carried out to verify the feasibility of active temperature control of helium JTC. Finally, a long-term temperature stability of ±1 mK/h was successfully achieved when a multi-stage active control strategy was adopted, which is the optimal long-term temperature stability of helium JTC that have been reported to date.

Enhancing Active Disturbance Rejection Control for a Vehicle Active Stabiliser Bar with an Improved Chicken Flock Optimisation Algorithm

An active stabiliser bar significantly enhances the anti-roll capabilities of vehicles. The control strategy is a crucial factor in enabling the active stabiliser bar to function effectively. This paper investigates an active disturbance rejection control (ADRC) strategy. Given the numerous parameters of the ADRC and their significant mutual influence, optimising these parameters is challenging. To address this, an improved chicken flock optimisation algorithm is proposed to optimise the ADRC parameters and enhance its performance. First, a three-degree-of-freedom dynamic model of the vehicle is established, and an active disturbance rejection control-based optimisation model utilising a chicken flock optimisation algorithm is constructed. To tackle the issues of getting stuck in local optima and low precision when dealing with complex problems in the traditional chicken flock optimisation (CFO) algorithm, several strategies, including improved Lévy flight, have been adopted. Subsequently, the twelve parameters of the ADRC are optimised using the improved chicken flock optimisation algorithm. Comprehensive testing on multiple benchmark functions demonstrates that the improved chicken flock optimisation (ICFO) algorithm is distinctly superior to other advanced algorithms in terms of solution quality and robustness. Simulation results show that the ICFO-ADRC controller is significantly superior. In four different complex road condition tests, the ICFO-ADRC controller shows an average performance improvement of 8% compared to the fuzzy PI-PD controller, an average improvement of 82% compared to the non-optimised ADRC controller, and an average improvement of 18% compared to the CFO-ADRC controller. Our findings confirm that this paper was able to provide new solutions for vehicle stability control whilst opening up new possibilities for the application of metaheuristic algorithms.