This paper addresses the robust control problem for under-actuated mechanical systems subject to uncertainties. The key challenge lies in achieving precise control with insufficient degrees of freedom while maintaining robustness against system uncertainties. We propose a novel control framework that characterizes bounded, time-varying uncertainties through fuzzy set theory, leading to a fuzzy dynamical system formulation. The main contributions are threefold: (1) the development of a deterministic robust controller that eschews traditional IF-THEN rules while guaranteeing system stability through a Lyapunov–Minimax analysis; (2) the formulation of a performance optimization scheme that minimizes both fuzzy system average performance and control costs, with proven existence and uniqueness of the analytical solution; and (3) the establishment of stability conditions using the Lyapunov theory for time-varying systems with bounded uncertainties. The theoretical framework is validated through both numerical simulations and experimental implementation on a linear motor-driven inverted pendulum system. The experimental results demonstrate significant performance improvements over conventional approaches: the optimal robust controller achieves 34.89% and 29.20% reductions in cart position and pendulum angle errors, respectively, from the initial conditions. A comparative analysis with traditional PD control shows a reduction in steady-state errors from 0.00318 m to 0.00057 m for the cart position and from 0.01117 rad to 0.00055 rad for the pendulum angle, validating the effectiveness of the proposed methodology.

To address the inherent nonlinearity and strong coupling among rotor displacement, speed, and flux linkage in the composite cage rotor bearingless induction motor (CCR-BIM), an inverse system decoupling control strategy based on a support vector machine (SVM) optimized by the improved simulated annealing-genetic algorithm (ISA-GA) is proposed. First, based on the structure and working principle of CCR-BIM, the mathematical model of CCR-BIM is derived, and its reversibility is rigorously analyzed. Subsequently, an SVM regression equation is established, and the SVM kernel function parameters are optimized using the ISA-GA to train a high-precision inverse system decoupling control model. Finally, the inverse system is cascaded with the original system to construct a pseudo-linear system model, achieving linearization and decoupling control of CCR-BIM. To verify the effectiveness and practicability of the proposed decoupling control strategy, the proposed control method is compared with the traditional inverse system decoupling control strategy through simulation and experimentation. Both simulation and experimental results demonstrate that the proposed decoupling control strategy can effectively achieve decoupling control of rotor displacement, rotational speed, and flux linkage in CCR-BIM.

This paper proposes a dual-mode thermal analysis framework for the composite cage rotor bearingless induction motor (CCR-BIM), which combines lumped parameter thermal network (LPTN) and finite element thermal model (FETM) methods with experimental verification. The CCR-BIM, an advanced motor design combining torque and suspension windings within a single stator core, offers significant advantages in high-speed and high-precision applications. However, accurate thermal management remains a critical challenge due to its complex structure and increased losses. An LPTN model tailored to the unique thermal characteristics of the CCR-BIM is proposed, and detailed FETM simulations and experimental tests are validated. The LPTN model employs a meshing method to discretize the motor into orthogonal thermal nodes, enabling the rapid and accurate calculation of steady-state temperatures. The FETM further verifies the LPTN results by simulating the transient and steady-state temperature fields. Experimental validation using a 2 kW CCR-BIM test platform confirms the effectiveness of both models, with temperature predictions closely matching measured values. This study provides a reliable thermal analysis method for CCR-BIM.

To tackle the navigation challenge in dynamic and complex environments, this study designs a fusion planning framework that synergistically integrates enhanced A* algorithm with improved DWA, inspired by the biological dual-layer navigation mechanism of global path planning and local real-time obstacle avoidance. Firstly, the original global path from the conventional A* algorithm is smoothed and length-reduced through a three-stage optimization strategy involving redundant node removal and forward and reverse path relaxation, mimicking the behavioral logic of honeybees and desert ants that eliminate redundant routes to complete foraging and homing with minimal energy consumption. Secondly, an evaluation function integrating dynamic obstacle perception and adaptive weight adjustment is designed for the DWA to enhance the intelligence of local planning, drawing on the adaptive strategy of animals such as antelopes that adjust behavioral priorities according to environmental complexity to balance safety and efficiency. To comprehensively verify the performance of the proposed algorithm, simulation evaluations are performed in various scenarios, including 20 × 20 and 30 × 30 grid maps, with single and dual dynamic obstacles. Results demonstrate that our algorithm outperforms conventional methods in path length, smoothness, and safety. Further physical verification is carried out on a LiDAR-equipped mobile robot (Shenzhen Yuanchuangxing Technology Co., Ltd., Shenzhen, China) based on the ROS platform, confirming that the algorithm can stably achieve static path tracking and real-time obstacle avoidance in real indoor environments. Consequently, the developed hybrid algorithm delivers a viable and robust solution for autonomous mobile robots to navigate safely and efficiently in unpredictable and complex environments.

An infinite impulse response (IIR) system might comprise a multimodal error surface and accurately discovering the appropriate filter parameters for system modeling remains complicated. The swarm intelligence algorithms facilitate the IIR filter’s parameters by exploring parameter domains and exploiting acceptable filter sets. This paper presents an enhanced symmetric sand cat swarm optimization with multiple strategies (MSSCSO) to achieve adaptive IIR system identification. The principal objective is to recognize the most appropriate regulating coefficients and to minimize the mean square error (MSE) between an unidentified system’s input and the IIR filter’s output. The MSSCSO with symmetric cooperative swarms integrates the ranking-based mutation operator, elite opposition-based learning strategy, and simplex method to capture supplementary advantages, disrupt regional extreme solutions, and identify the finest potential solutions. The MSSCSO not only receives extensive exploration and exploitation to refrain from precocious convergence and foster computational efficiency; it also endures robustness and reliability to facilitate demographic variability and elevate estimation precision. The experimental results manifest that the practicality and feasibility of the MSSCSO are superior to those of other methods in terms of convergence speed, calculation precision, detection efficiency, regulating coefficients, and MSE fitness value.

The black-winged kite algorithm (BKA) integrates the Cauchy mutation strategy and the leader selection strategy to simulate high-altitude circling exploration, fixed-point diving attack, and group cooperative migration of the black-winged kites to approximate the global optimal solution. The BKA exhibits deficiencies in ponderous convergence efficacy, inefficient calculation precision, and insufficient population diversity. To strengthen the convergence property and computational practicability, an enhanced BKA with multiple strategies (MSBKA) is advocated to accommodate global optimization and constrained engineering applications. The objective is to systematically verify its advancement and competitiveness and accurately actualize the global optimal solution. The ranking-based differential mutation can strengthen population information interaction, accelerate convergence efficiency, restrain premature convergence, diminish homogenization competition, promote exploration and exploitation, intensify elite individual guidance, downscale ineffective iterations, and materialize orderly population renewal. The simplex method can execute the local refinement operations of reflection, expansion, compression and contraction, strengthen local mining efficiency, ameliorate solution accuracy, abate parameter sensitivity, eschew local optimal traps, accelerate accurate convergence, and preserve the optimal individual potential. The elite opposition-based learning strategy can fabricate reverse solutions, expand the monolithic detection space, shorten the convergence process, elevate the quality of initial and iterative solutions, boost population diversity, guide intelligent search direction, and relieve premature convergence. The MSBKA utilizes deficiency orientation, strategy adaptation, and collaborative search to accomplish the realistic demands of high-precision, high-efficiency and strong constraint adaptation, surmount the static trade-off dilemma, endow a strong directional abscond mechanism to replace random perturbation, and actualize the inertia of directional exploration and the blind spots of solution exploitation. Twenty-three benchmark functions and six real-world engineering designs are employed to authenticate theoretical superiority and engineering practicability. The experimental results demonstrate that the MSBKA incorporates strong practicability and reliability to strengthen information interaction, restrain search stagnation, diminish convergence oscillation and fluctuation, facilitate globalized discovery and localized extraction, expedite convergence efficacy, ameliorate solution precision, and consolidate stability and robustness.