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RISA Control Lyapunov Approach to Finite Control Set Model Predictive Control for Permanent Magnet Synchronous Motors
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we present a novel model predictive control (MPC) scheme that incorporates stability information derived from a control Lyapunov function (CLF) to dynamically prune suboptimal sequences from the search space ...
Boundary Backstepping Control of Flow Induced Vibrations of a Membrane at High Mach Numbers
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: We design a controller for flowinduced vibrations of an infiniteband membrane, with flow running across the band and only above it, and with actuation only on the trailing edge of the membrane. Due to the infinite length ...
Extremum Seeking Feedback With Wave Partial Differential Equation Compensation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper addresses the compensation of wave actuator dynamics in scalar extremum seeking (ES) for static maps. Infinite-dimensional systems described by partial differential equations (PDEs) of wave type have not been ...
A Single Forward Velocity Control Signal for Stochastic Source Seeking With Multiple Nonholonomic Vehicles
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: With a single stochastic extremum seeking control signal, we steer multiple autonomous vehicles, modeled as nonholonomic unicycles, toward the maximum of an unknown, spatially distributed signal field. The vehicles, whose ...
Adaptive Cancellation of Matched Unknown Sinusoidal Disturbances for LTI Systems by State Derivative Feedback
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Solutions already exist for the problem of canceling sinusoidal disturbances by measurement of state or an output for linear and nonlinear systems. In this paper, we design an adaptive controller to cancel matched sinusoidal ...
Multivariable Extremum Seeking for Joint-Space Trajectory Optimization of a High-Degrees-of-Freedom Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a novel analytical coupled trajectory optimization of a seven degrees-of-freedom (7DOF) Baxter manipulator utilizing extremum seeking (ES) approach is presented. The robotic manipulators are used in network-based ...
Design and Experiment of a Prescribed-Time Trajectory Tracking Controller for a 7-DOF Robot Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: We present an analytical design and experimental verification of trajectory tracking control of a 7-DOF robot manipulator, which achieves convergence of all tracking errors to the origin within a finite terminal time, also ...
Stabilization of Filament Production Rate for Screw Extrusion-Based Polymer Three-Dimensional-Printing
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Polymer three-dimensional (3D)-printing has been commercialized rapidly during recent years; however, there remains a matter of improving the manufacturing speed. Screw extrusion has a strong potential to fasten the process ...
Extremum Seeking for Traffic Congestion Control With a Downstream Bottleneck
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper develops boundary control for freeway traffic with a downstream bottleneck. Traffic on a freeway segment with capacity drop at outlet of the segment is a common phenomenon that leads to traffic bottleneck problem. ...
State Estimation for Lithium-Ion Batteries With Phase Transition Materials Via Boundary Observers
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Lithium iron phosphate (LiFePO4 or LFP) is a common active material in lithium-ion batteries. It has been observed that this material undergoes phase transitions during the normal charge and discharge operation of the ...