Journal of Dynamic Systems, Measurement, and Control: Recent submissions
Now showing items 161-180 of 5506
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Lagrangian and QuasiLagrangian Models for Noninertial Pneumatic Soft Cylindrical Robots
(The American Society of Mechanical Engineers (ASME), 2022)Current Lagrangian models for soft cylindrical robots (SCRs) have been developed under rigid body considerations, and therefore, body deformation properties have not been fully incorporated into these models. Thus, key ... -
LeaderBased Consensus in Directed Networks of Homogeneous Positive Agents With Multiple Inputs
(The American Society of Mechanical Engineers (ASME), 2022)In this paper, the nonzero finite positive state consensus problem of leaderfollowing multiagent systems (MASs) connected over a directed network is investigated. The multiagent network consists of homogeneous linear ... -
EnergyOptimal Impedance Control of Cooperative Robot Manipulators
(The American Society of Mechanical Engineers (ASME), 2022)An impedancebased control scheme is introduced for cooperative manipulators grasping a rigid object. The position and orientation of the payload are to be maintained close to the desired trajectory, trading off tracking ... -
Identification of Multivariable Hammerstein CARMA System Using Special Test Signals
(The American Society of Mechanical Engineers (ASME), 2022)The multivariable Hammerstein controlled autoregressive moving average (CARMA) system contains the sum of bilinear parameter vectors in the identification model, which is difficult to be transformed into a regression form ... -
Active Structural Control of BaseIsolated Building Using EquivalentInputDisturbance Approach With ReducedOrder State Observer
(The American Society of Mechanical Engineers (ASME), 2022)Active base isolation has been studied in the last few decades to improve the control performance of base isolation. As a twodegreeoffreedom active disturbancerejection method, the equivalentinputdisturbance (EID) approach ... -
Estimation for Predictive Control and HumanintheLoop Operation of Rotary Steerable Systems
(The American Society of Mechanical Engineers (ASME), 2022)Accessing difficult to reach hydrocarbon reservoirs while simultaneously reducing risk and increasing efficiency demonstrates a need for improved autonomous directional control of rotary steerable systems (RSS). The ... -
Trackability for DiscreteTime Linear TimeInvariant Systems: A Brief Review and New Insights
(The American Society of Mechanical Engineers (ASME), 2021)Trackability is a known system property and has been studied extensively in the literature both from a theoretical standpoint and from the standpoint of constructing inversionbased tracking controllers. There is also a ... -
Robust Nonlinear Model Predictive Control With Model Predictive Sliding Mode for ContinuousTime Systems
(The American Society of Mechanical Engineers (ASME), 2021)This paper presents a robust, tubebased nonlinear model predictive controller for continuoustime systems with additive disturbances which cascades two sampleddata model predictive controllers: the first creates a desired ... -
Distributed Stochastic Consensus of Networked Nonholonomic Mobile Robots and Its Formation Application
(The American Society of Mechanical Engineers (ASME), 2022)This paper proposes a novel distributed stochastic consensus seeking algorithm for networked nonholonomic wheeled mobile robots (NNWMRs) and its application to consensus-based formation. Time-varying delays and noisy ... -
Position Tracking Constrained Adaptive Output Feedback Control of Robotic Manipulators
(The American Society of Mechanical Engineers (ASME), 2022)This work presents the design and the corresponding stability analysis of a model-based, joint position tracking error constrained, adaptive output feedback (OFB) controller for robot manipulators. Specifically, provided ... -
Light-Emitting Diode-Based Optical Localization of a Robot in Continuous Motion Using Dynamic Prediction1
(The American Society of Mechanical Engineers (ASME), 2022)For mobile robots, localization is essential for navigation and spatial correlation of its collected data. However, localization in Global Positioning System-denied environments such as underwater has been challenging. ... -
An Analytic Solution to the Inverse Dynamics of an Energy Harvesting Tethered Kite
(The American Society of Mechanical Engineers (ASME), 2022)This paper solves the inverse dynamics of a tethered kite analytically. Specifically, the paper presents a procedure for determining the angle of attack, induced roll angle, and tether tension magnitude needed to achieve ... -
Motion Control of Autonomous Vehicles Based on Offset Free Model Predictive Control Methods
(The American Society of Mechanical Engineers (ASME), 2022)Model predictive control (MPC) is the mainstream method in the motion control of autonomous vehicles. However, due to the complex and changeable driving environment, the perturbation of vehicle parameters will cause the ... -
Dual-Mode Synchronization Predictive Control of Robotic Manipulator
(The American Society of Mechanical Engineers (ASME), 2022)To reduce the contour error of the end-effector of a robotic manipulator during trajectory tracking, a dual-mode synchronization predictive control is proposed. First, the dynamic model of n-degree-of-freedom (n-DOF) robotic ... -
Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis
(The American Society of Mechanical Engineers (ASME), 2022)A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as “global-position tracking.” This paper ... -
A Novel Gegenbauer Wavelet-Based Approach for Stability and Surface Location Error Analyses of Milling Process
(The American Society of Mechanical Engineers (ASME), 2022)This paper proposes a novel wavelet-based method for the computation of the milling stability and surface location error (SLE). The governing equation of milling processes considering the self-vibration and forced-vibration ... -
A Cascaded Learning Framework for Road Profile Estimation Using Multiple Heterogeneous Vehicles
(The American Society of Mechanical Engineers (ASME), 2022)Road profile information can be utilized to enhance vehicle control performance, passenger ride comfort, and route planning and optimization. Existing road-profile estimation algorithms are mainly based on one single ... -
Gain-Scheduled Steering and Braking Coordinated Control in Path Tracking of Intelligent Heavy Vehicles
(The American Society of Mechanical Engineers (ASME), 2022)In the context of intelligent transportation system and advanced vehicle control system, higher requirements for intelligent control and coordinated control of heavy vehicles (HVs) have been proposed. Automatic path tracking ... -
Design and Experiment of a Prescribed-Time Trajectory Tracking Controller for a 7-DOF Robot Manipulator
(The American Society of Mechanical Engineers (ASME), 2022)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 ... -
Design of a Multi-Objective Lateral Controller for Highly Automated Vehicles
(The American Society of Mechanical Engineers (ASME), 2022)In this paper, we consider the design of a multi-objective lateral controller for highly automated vehicles. Higher levels of automation require vehicles to resolve complex situations and orchestrate the underlying vehicle ...