Journal of Dynamic Systems, Measurement, and Control: Recent submissions
Now showing items 481-500 of 5605
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Torque Distribution Strategy for Multi-PMSM Applications and Optimal Acceleration Control for Four-Wheel-Drive Electric Vehicles
(The American Society of Mechanical Engineers (ASME), 2020)In this paper, a general torque distribution strategy is proposed to improve the drivetrain efficiency of four-wheel-drive electric vehicles (EVs). The strategy allows the same or different motors to be equipped in the ... -
Toward Automated Vehicle Control Beyond the Stability Limits: Drifting Along a General Path
(The American Society of Mechanical Engineers (ASME), 2020)Professional drivers in drifting competitions demonstrate accurate control over a car's position and sideslip while operating in an open-loop unstable region of state-space. Could similar approaches help autonomous cars ... -
Modeling and Control of a Planetary Compound System Under External Magnetic Load
(The American Society of Mechanical Engineers (ASME), 2020)Many experimental setups that are used in characterizing gear and rotor dynamics employ noncontact hysteresis brakes to control the load torque as opposed to employing a clutch-type brake mechanism. Although hysteresis ... -
Natural Frequency Analysis of Hydraulic Quadruped Robot and Structural Optimization of the Leg
(The American Society of Mechanical Engineers (ASME), 2020)Hydraulic quadruped robots can adapt to very complex ground conditions, as they have good maneuverability and high load capacity and, therefore, have received great attention in military research fields all over the world. ... -
Universal Feedback Controllers and Inverse Optimality for Nonlinear Stochastic Systems
(The American Society of Mechanical Engineers (ASME), 2020)In this paper, we develop a constructive finite time stabilizing feedback control law for stochastic dynamical systems driven by Wiener processes based on the existence of a stochastic control Lyapunov function. In addition, ... -
Design, Analysis, Experimentation, and Control of a Partially Compliant Bistable Mechanism
(The American Society of Mechanical Engineers (ASME), 2020)This study presents the design analysis and development of a novel partially compliant bistable mechanism. Motion behavior dependence on links and relative angles are analyzed, lumped parameter model is derived, mechanism ... -
Parameter Set Reduction and Ensemble Kalman Filtering for Engine Model Calibration
(The American Society of Mechanical Engineers (ASME), 2020)A novel methodology is presented in this paper to reduce the burden of calibrating an engine model associated with a high number of parameters and nonlinear equations. The proposed idea decreases the calibration candidate ... -
Dynamic Characterization and Phenomenological Modeling of Sleeve Pneumatic Artificial Muscles
(The American Society of Mechanical Engineers (ASME), 2020)Pneumatic artificial muscles (PAMs) are a compelling actuator for physical human–robot interaction (pHRI) due to their low mass, high-force capacity, and muscle-like characteristics. However, their low efficiency and ... -
Lab-Scale, Closed-Loop Experimental Characterization, Model Refinement, and Validation of a Hydrokinetic Energy-Harvesting Ocean Kite
(The American Society of Mechanical Engineers (ASME), 2020)This paper presents a study wherein we experimentally characterize the dynamics and control system of a lab-scale ocean kite, and then refine, validate, and extrapolate this model for use in a full-scale system. Ocean kite ... -
A Control Solution for a Tethered Kite Trajectory Tracking With Application to Ship Propulsion
(The American Society of Mechanical Engineers (ASME), 2020)In the field of clean and green energy production systems, airborne wind energy (AWE) systems are really promising technologies. Replacing lightweight tethers with expensive towers, is an innovative solution to get energy ... -
Inverse Optimal Boundary Tracking Control and Observer Design for a One-Link Rotating Flexible Arm
(The American Society of Mechanical Engineers (ASME), 2020)A new design of an inverse optimal boundary control law is first proposed to force a one-link rotating flexible arm with a tip mass subject to bounded disturbances to track a reference model. The proposed boundary control ... -
Robust Constrained Trajectory Tracking Control for Quadrotor Unmanned Aerial Vehicle Based on Disturbance Observers
(The American Society of Mechanical Engineers (ASME), 2020)In this paper, a trajectory tracking control scheme for a quadrotor unmanned aerial vehicle (UAV) under unknown external disturbance and input saturation is developed. This scheme includes the position control system and ... -
A Shaker Rig-Based Testing of Perceived Ride Comfort for Various Configurations of Active Suspensions
(The American Society of Mechanical Engineers (ASME), 2020)Benefits of introducing active suspension in autonomous vehicles in terms of improving the driver's work/leisure ability can be tested under laboratory conditions using a high-performance shaker rig. In this paper, five ... -
Experimental Validation of a Robust H∞ Control Method on Miniaturized Optical Image Stabilizer Prototypes
(The American Society of Mechanical Engineers (ASME), 2020)This paper validates a robust H∞ controller design method, experimentally, on miniaturized prototypes of the magnetically actuated lens-tilting optical image stabilizers (OISs) with product variabilities. Five small-scale ... -
Multilevel Hierarchical Estimation for Thermal Management Systems of Electrified Vehicles With Experimental Validation
(The American Society of Mechanical Engineers (ASME), 2020)This paper presents a multilevel model-based hierarchical estimation framework for complex thermal management systems of electrified vehicles. System dynamics are represented by physics-based lumped parameter models derived ... -
Single Robust Proportional-Derivative Control for Friction Compensation in Fast and Precise Motion Systems With Actuator Constraint
(The American Society of Mechanical Engineers (ASME), 2020)This paper revisits the problem of global asymptotic positioning of uncertain motion systems subject to actuator constraint and friction. A simple model-free saturated control is proposed by incorporating a relay term ... -
Command Shaping for Sloshing Suppression of a Suspended Liquid Container
(The American Society of Mechanical Engineers (ASME), 2020)The residuals of liquid free-surface wave oscillations induced by a rest-to-rest crane maneuver of a suspended liquid container are eliminated using a command-shaped profile. The dynamics of liquid sloshing are modeled ... -
Transient Response of Linear Systems Under Integral Constraints
(The American Society of Mechanical Engineers (ASME), 2020)The requirement of satisfying an integral constraint imposed on a linear system's transient step-response is considered in this paper. The problem is first analyzed to determine the specific structure of a system's transfer ... -
Weighted Internal Model Control-Proportional Integral Derivative Control Scheme Via Fractional Gradient Descent Algorithm
(The American Society of Mechanical Engineers (ASME), 2020)An adaptive controller design technique based on internal model control (IMC) scheme is proposed in this paper. Multiple IMC controllers having different values of filter time constants and exhibiting widely different ... -
Region-Reaching Control of a Flexible-Joint Manipulator
(The American Society of Mechanical Engineers (ASME), 2020)This paper addresses the region-reaching control problem for a flexible-joint robotic manipulator which is formulated by Lagrangian dynamics. An adaptive control scheme is proposed for the manipulator system having two ...