Work

The design of stimuli‐induced equilibrium point and its assessment in motion planning of a heavy‐load servo system

Year: 2026

Type: article

Abstract: To address the issues of power saturation and high energy consumption in heavy‐load servo systems, we propose a motion planning algorithm called the stimuli‐induced equilibrium point motion planning (SIEP‐MP) algorithm. We first explore the correlation between the bionic eye system and heavy‐load servo systems using head‐eye motion control theory and then derive the core formula of the SIEP‐MP algorithm from psychological field theory. Next, phase plane analysis is used for qualitative analysis of the influence of the state variable coefficient in the SIEP‐MP algorithm on motion planning performance. We also propose a piecewise linearization method to quantitatively analyze the relationship between SIEP‐MP, linearized SIEP‐MP, and low‐pass filtering algorithm. Using an experimental platform, target trajectories, and control strategies, we test the low‐pass filtering, range‐limiting, power saturation elimination, and energy‐saving capabilities of SIEP‐MP. In comparison to two similar motion planning algorithms, the experimental results demonstrate the advantages of the SIEP‐MP algorithm. The proposed SIEP‐MP algorithm can ensure optimal tracking performance of heavy‐load servo systems in different modes through mode switching.

Source: Asian Journal of Control

DOI: 10.1002/asjc.70062

Authors: Ziping Wan, Nanbin Zhao, Guangan Ren, Dapeng Fan

Institutions: National University of Singapore, National University of Defense Technology, Hunan Agricultural University

Language: English

Topic: Control Systems in Engineering

Subfield: Mechanical Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: bronze

Funders: Agency for Science, Technology and Research, National Natural Science Foundation of China, Basic and Applied Basic Research Foundation of Guangdong Province

Award: G2488039834