162506 20251017144622.0 doi 10.3390/app15147628 sideral 145060 ART-2025-145060 eng Bianchi, Edoardo Universidad de Zaragoza (orcid)0000-0001-9162-9215 Closed-Loop Control Strategies for a Modular Under-Actuated Smart Surface: From Threshold-Based Logic to Decentralized PID Regulation 2025 Access copy available to the general public Unrestricted In the field of intralogistics, new systems are continuously being studied to increase flexibility and adaptability while striving to maintain high handling capabilities and performance. Among these new systems, this article focuses on a novel under-actuated intelligent surface capable of performing various handling tasks with a simplified design and without employing motors. The technology behind the device involves idle rotors, i.e., without motor-driven spinning, whose axis of rotation can be controlled in a few discrete positions. The system’s operation and digital model have already been tested and validated; however, a control system that makes the surface “smart” has not yet been developed. In this context, the following work analyzes control methodologies for the concept. Specifically, in a first phase, a threshold-based method is introduced and tested on a prototype of the surface for sorting and orientation operations. This basic technique involves actuating the surface modules according to pre-assigned rules once a chosen threshold condition is reached. In a second phase, instead, a decentralizd PID control is described and simulated based on real and potential industrial applications. Unlike the first method, in this case, it is the control law that defines the actuation and, through the dynamic description of the device, determines the best combination to achieve the goal. Additionally, the article illustrates how the difficulties introduced by the numerous nonlinearities, due to the under-actuation and the simplifications of the physical system, were overcome. For both control methods, promising results were obtained in terms of handling capability and errors in achieving the desired movement. info:eu-repo/grantAgreement/EC/H2020/814225/EU/DIGItal MANufacturing Technologies for Zero-defect Industry 4.0 Production/DIGIMAN4.0 This project has received funding from the European Union’s Horizon 2020 research and innovation program under grant agreement No H2020 814225-DIGIMAN4.0 info:eu-repo/semantics/openAccess by https://creativecommons.org/licenses/by/4.0/deed.es info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Brosed Dueso, Francisco Javier Universidad de Zaragoza (orcid)0000-0003-3080-9217 Yagüe-Fabra, José A. Universidad de Zaragoza (orcid)0000-0001-7152-4117 5002 515 Universidad de Zaragoza Dpto. Ingeniería Diseño Fabri. Área Ing. Procesos Fabricación 15, 14 (2025), 7628 [21 pp.] Appl. sci. Applied Sciences (Switzerland) 2076-3417 13602415 http://zaguan.unizar.es/record/162506/files/texto_completo.pdf Versión publicada 2432340 http://zaguan.unizar.es/record/162506/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:162506 articulos driver 2025-10-17-14:22:10 ARTICLE