Journal of Dynamic Systems, Measurement, and Control: Recent submissions
Now showing items 61-80 of 5506
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Learning Scalable Decentralized Controllers for Heterogeneous Robot Swarms With Graph Neural Networks
(The American Society of Mechanical Engineers (ASME), 2024)Distributed multi-agent systems are becoming increasingly crucial for diverse applications in robotics because of their capacity for scalability, efficiency, robustness, resilience, and the ability to accomplish complex ... -
Gaussian Process-Based Learning Control of Underactuated Balance Robots With an External and Internal Convertible Modeling Structure
(The American Society of Mechanical Engineers (ASME), 2024)External and internal convertible (EIC) form-based motion control is one of the effective designs of simultaneous trajectory tracking and balance for underactuated balance robots. Under certain conditions, the EIC-based ... -
Data-Driven Aircraft Modeling for Robust Reinforcement Learning Control Synthesis With Flight Test Validation
(The American Society of Mechanical Engineers (ASME), 2024)Low-fidelity engineering-level dynamic models are commonly employed while designing uncrewed aircraft flight controllers due to their rapid development and cost-effectiveness. However, during adverse conditions, or complex ... -
Information-Theoretic Bayesian Inference for Multi-Agent Localization and Tracking of an Radio Frequency Target With Unknown Waveform
(The American Society of Mechanical Engineers (ASME), 2024)Information-theoretic motion planning and machine learning through Bayesian inference are exploited to localize and track a dynamic radio frequency (RF) emitter with unknown waveform (uncooperative target). A target-state ... -
Inferring Human Control Intent Using Inverse Linear Quadratic Regulator With Output Penalty Versus Gain Penalty: Better Fit but Similar Intent
(The American Society of Mechanical Engineers (ASME), 2024)To identify the underlying mechanisms of human motor control, parametric models are utilized. One approach of employing these models is the inferring the control intent (estimating motor control strategy). A well-accepted ... -
An Adjoint-Based Data-Driven Inverse-Free Iterative Feedforward Control Method
(The American Society of Mechanical Engineers (ASME), 2024)Feedforward control is widely used in control systems since it can achieve high tracking performance by effectively compensating for known disturbances before they affect the system. For traditional feedforward control ... -
Velocity and Energy Consumption Prediction of Medium-Duty Electric Trucks Considering Road Features and Traffic Conditions
(The American Society of Mechanical Engineers (ASME), 2024)Electric vehicles (EVs) have emerged as a promising solution to address environmental concerns, especially benefiting urban delivery and last-mile fleets due to their unique operational characteristics. Despite the potential ... -
State Identification Via Symbolic Time Series Analysis for Reinforcement Learning Control
(The American Society of Mechanical Engineers (ASME), 2024)This technical brief makes use of the concept of symbolic time-series analysis (STSA) for identifying discrete states from the nonlinear time response of a chaotic dynamical system for model-free reinforcement learning ... -
Continuous-Time Algebraic Riccati Equation Solution for Second-Order Systems
(The American Society of Mechanical Engineers (ASME), 2024)The continuous-time algebraic Riccati equation (ARE) is often utilized in control, estimation, and optimization. For a linear system with a second-order structure of size n, the ARE required to be solved to get the control ... -
Reduced-Order Model Parameterization for Uncertain LTI SISO Systems
(The American Society of Mechanical Engineers (ASME), 2024)The primary goal of this paper is to develop a formal foundation to design an adaptive output feedback predictor for a class of unknown systems where parameters and order are unknown or high-dimensional. We present a ... -
Convex Optimization Based Design of Finite Impulse Response Filters for Reference Shaping
(The American Society of Mechanical Engineers (ASME), 2024)This paper explores design of finite impulse response (FIR) filters for controlling underdamped systems while dealing with uncertainties in model parameters. By setting magnitude constraints in the frequency domain within ... -
Offset-Free Koopman Model Predictive Control of Thermal Comfort Regulation for a Variable Refrigerant Flow-Dedicated Outdoor Air System-Combined System
(The American Society of Mechanical Engineers (ASME), 2024)Variable refrigerant flow (VRF) system has been an appealing solution of air conditioning for residential and commercial buildings, due to its flexibility and cost effectiveness, while lack of ventilation capability is a ... -
Reactive Gait Composition With Stability: Dynamic Walking Amidst Static and Moving Obstacles
(The American Society of Mechanical Engineers (ASME), 2024)This paper presents a modular approach to motion planning with provable stability guarantees for robots that move through changing environments via periodic locomotion behaviors. We focus on dynamic walkers as a paradigm ... -
Integral Sliding Mode Disturbance Observer-Based Preview Repetitive Control
(The American Society of Mechanical Engineers (ASME), 2024)This paper deals with the problem of integral sliding mode disturbance observer (ISDOB)-based preview repetitive control (PRC) for a class of nonlinear systems subject to external disturbances and nonlinearity. First, an ... -
A Time Headway Control Scheme for Virtually Coupled Heavy Haul Freight Trains
(The American Society of Mechanical Engineers (ASME), 2024)Virtual coupling of railway trains is an emerging technology that has the potential to significantly increase railway operational efficiency by reducing the train following distance from absolute braking distances to ... -
Surge-Elimination Strategy for Aero-Engine Transient Control
(The American Society of Mechanical Engineers (ASME), 2024)The fundamental principle of the transient state control method for turbofan engines, which is based on the acceleration ratio of high-pressure rotational speed (N-dot), involves sacrificing a portion of the safety margin ... -
Safe Reinforcement Learning-Based Balance Control for Multi-Cylinder Hydraulic Press
(The American Society of Mechanical Engineers (ASME), 2024)Considering the load uncertainty and unmodeled dynamics in multicylinder hydraulic systems, this paper proposes a balance control algorithm based on safe reinforcement learning to release the restrictions of classical ... -
Hierarchical Lateral Planning With Minimum Curvature Peak for Autonomous Vehicles
(The American Society of Mechanical Engineers (ASME), 2024)This study focuses on the lateral safety of autonomous vehicles. The aim is to provide greater safety margins for the motion controller under hazardous conditions by improving the planning methods. The proposed lateral ... -
Using Control Barrier Functions to Incorporate Observability: Application to Range-Based Target Tracking
(The American Society of Mechanical Engineers (ASME), 2024)In many nonlinear systems, the observability of the system is dependent on its state and control input. Thus, incorporating observability into a control scheme can enhance an observer's ability to recover accurate estimates ... -
Rejection of Sinusoidal Disturbances With Unknown Slowly Time-Varying Frequencies for Linear Time-Varying Systems
(The American Society of Mechanical Engineers (ASME), 2024)Recently, a class of adaptive schemes has been developed for rejecting sinusoidal output disturbances with unknown frequencies, phases, and amplitudes. These adaptive schemes require an accurate model of the affected ...