Journal of Dynamic Systems, Measurement, and Control: Recent submissions
Now showing items 401-420 of 5605
-
Adaptive Robust Tracking Control for Hybrid Models of Three-Dimensional Bipedal Robotic Walking Under Uncertainties
(The American Society of Mechanical Engineers (ASME), 2021)This paper introduces an adaptive robust trajectory tracking controller design to provably realize stable bipedal robotic walking under parametric and unmodeled uncertainties. Deriving such a controller is challenging ... -
Coordinated Control of Flexible Cables With Human-Like Dual Manipulators
(The American Society of Mechanical Engineers (ASME), 2021)Due to the flexibility and high degrees-of-freedom of flexible cables, their dynamic modeling and precise control are challenging. In this paper, the dynamic modeling and control of flexible cables with human-like dual ... -
Extended Fractional-Order Jeffreys Model of Viscoelastic Hydraulic Cylinder
(The American Society of Mechanical Engineers (ASME), 2021)A novel modeling approach for viscoelastic hydraulic cylinders, with negligible inertial forces, is proposed, based on the extended fractional-order Jeffreys model. Analysis and physical reasoning for the parameter constraints ... -
On the Global Behavior of a Geometric PDAV Controller by Means of a Geometrically Exact Linearization
(The American Society of Mechanical Engineers (ASME), 2021)A complex motion encountered in a number of robotic, industrial, and defense applications is the motion of a rigid body when one of its body-fixed axes tracks a desired pointing direction while it rotates at high angular ... -
Contact Stability and Contact Safety of a Magnetic Resonance Imaging-Guided Robotic Catheter Under Heart Surface Motion
(The American Society of Mechanical Engineers (ASME), 2021)Contact force quality is one of the most critical factors for safe and effective lesion formation during catheter based atrial fibrillation ablation procedures. In this paper, the contact stability and contact safety of a ... -
Modeling of a Fractional Order Element Based on Bacterial Cellulose and Ionic Liquids
(The American Society of Mechanical Engineers (ASME), 2021)In this paper, a novel fractional-order element (FOE) is modeled in a wide frequency range. The FOE is based on a green biopolymer, i.e., bacterial cellulose (BC), infused with ionic liquids (ILs). The modeling is performed ... -
Event-Triggered Adaptive Higher-Order Sliding Mode Tracking Control for Steer-by-Wire Systems
(The American Society of Mechanical Engineers (ASME), 2021)The model uncertainty of the steer-by-wire (SbW) system and the limitation of communication bandwidth will have a negative effect on its control performance. For this reason, this paper proposes an event-triggered high-order ... -
Analytical and Experimental Decentralized Adaptive Control of a High-Degrees-of-Freedom Robot Manipulator
(The American Society of Mechanical Engineers (ASME), 2021)In this paper, we study the analytical and experimental control of a seven degrees-of-freedom (7DOF) robot manipulator. A model-free decentralized adaptive control strategy is presented for the tracking control of the ... -
A Two-Step Optimization-Based Iterative Learning Control for Quadrotor Unmanned Aerial Vehicles
(The American Society of Mechanical Engineers (ASME), 2021)This paper presents a two-step optimization-based design method for iterative learning control and applies it onto the quadrotor unmanned aerial vehicles (UAVs) trajectory tracking problem. Iterative learning control aims ... -
Performance Improvement of a Two-Stage Proportional Valve With Internal Hydraulic Position Feedback
(The American Society of Mechanical Engineers (ASME), 2021)The present research concentrates on the performance improvement of a two-stage proportional valve with internal hydraulic position feedback which is named as the Valvistor valve. In this paper, the performance constraint ... -
Real-Time Planning and Nonlinear Control for Quadrupedal Locomotion With Articulated Tails
(The American Society of Mechanical Engineers (ASME), 2021)The primary goal of this paper is to develop a formal foundation to design nonlinear feedback control algorithms that intrinsically couple legged robots with bio-inspired tails for robust locomotion in the presence of ... -
Transfer Case Clutch Torque Modeling and Validation Under Slip and Overtaken Conditions
(The American Society of Mechanical Engineers (ASME), 2021)The vehicle transfer case clutch plays an important role for four-wheel drive (4WD) vehicles since the torque transmitted through the clutch determines the amount of traction torque on tires, which is important for vehicle ... -
A Comparison of Trajectory Planning and Control Frameworks for Cooperative Autonomous Driving
(The American Society of Mechanical Engineers (ASME), 2021)This work considers the cooperative trajectory-planning problem along a double lane change scenario for autonomous driving. In this paper, we develop two frameworks to solve this problem based on distributed model predictive ... -
A Robust Detector for Automated Welding Seam Tracking System
(The American Society of Mechanical Engineers (ASME), 2021)Accurate locating of the weld seam under strong noise is the biggest challenge for automated welding. In this paper, we construct a robust seam detector on the framework of deep learning object detection algorithm. The ... -
Set-Membership Filtering-Based Leader–Follower Synchronization of Discrete-Time Linear Multi-Agent Systems
(The American Society of Mechanical Engineers (ASME), 2021)In this paper, a set-membership filtering-based leader–follower synchronization protocol for discrete-time linear multi-agent systems is proposed, wherein the aim is to make the agents synchronize with a leader. The agents, ... -
Transversely Stable Extended Kalman Filters for Systems on Manifolds in Euclidean Spaces
(The American Society of Mechanical Engineers (ASME), 2021)In this article, we devise a variant of the extended Kalman filter that can be generally applied to systems on manifolds with simplicity and low computational cost. We extend a given system on a manifold to an ambient open ... -
Demand Side Electric Energy Consumption Optimization in a Smart Household Using Scheduling and Model Predictive Temperature Control
(The American Society of Mechanical Engineers (ASME), 2021)Utility companies seek to increase energy efficiency and productivity and try to reduce peak loads. This often involves consumer-side demand management in residential areas using dynamic time-of-use (ToU) tariff. Such ... -
Design and Performance Analysis of a Cascaded Model Predictive Controller and Command Governor for Fuel-Efficient Control of Heavy-Duty Trucks
(The American Society of Mechanical Engineers (ASME), 2021)This paper presents the design and analysis of a predictive ecological control strategy for a heavy-duty truck that achieves substantial fuel savings while maintaining safe following distances in the presence of traffic. ... -
Multiple Fixed Pole-Based Rational Approximation for Fractional Order Systems
(The American Society of Mechanical Engineers (ASME), 2021)Our topic is the rational approximation of fractional order systems under Riemann–Liouville definition. This is a venerable, vast, fundamental area which attracts ongoing attention in coming years. In this work, the multiple ... -
Online Spark Timing Optimization With Complex High-Fidelity Combustion Phasing, Knock, and Coefficient of Variation of IMEP Models
(The American Society of Mechanical Engineers (ASME), 2021)The combustion phasing of spark ignition (SI) engines is traditionally regulated with map-based spark timing (SPKT) control. The calibration of these maps is time-consuming for SI engines with a high number of control ...