Journal of Dynamic Systems, Measurement, and Control: Recent submissions
Now showing items 601-620 of 5605
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Model Predictive Control-Based Path-Following for Tail-Actuated Robotic Fish
(American Society of Mechanical Engineers (ASME), 2019)There has been an increasing interest in the use of autonomous underwater robots to monitor freshwater and marine environments. In particular, robots that propel and maneuver themselves like fish, often known as robotic ... -
Distributed Flow Estimation for Autonomous Underwater Robots Using Proper Orthogonal Decomposition-Based Model Reduction
(American Society of Mechanical Engineers (ASME), 2019)Flow estimation plays an important role in the control and navigation of autonomous underwater robots. This paper presents a novel flow estimation approach that assimilates distributed pressure measurements through coalescing ... -
A Robust Visual Tracking Method for Unmanned Mobile Systems
(American Society of Mechanical Engineers (ASME), 2019)This paper introduces a robust visual tracking of objects in complex environments with blocking obstacles and light reflection noises. This visual tracking method utilizes a transfer matrix to project image pixels back to ... -
On the Passive Control of Friction-Induced Instability Due to Mode Coupling
(American Society of Mechanical Engineers (ASME), 2019)This study investigates a passive controller for a coupled two degrees-of-freedom (DOFs) oscillator to suppress friction-induced mode-coupling instability. The primary system is acted upon by a friction force of a moving ... -
Dynamic Modeling and Simulation of a Spar Floating Offshore Wind Turbine With Consideration of the Rotor Speed Variations
(American Society of Mechanical Engineers (ASME), 2019)This paper presents a rigid multibody dynamic model to simulate the dynamic response of a spar floating offshore wind turbine (FOWT). The system consists of a spar floating platform, the moorings, the wind turbine tower, ... -
Synthesis of Pontryagin's Maximum Principle Analysis for Speed Profile Optimization of All-Electric Vehicles
(American Society of Mechanical Engineers (ASME), 2019)This paper presents a study of the energy-efficient operation of all-electric vehicles leveraging route information, such as road grade, to adjust the velocity trajectory. First, Pontryagin's maximum principle (PMP) is ... -
Fast Scheduling of Autonomous Mobile Robots Under Task Space Constraints With Priorities
(American Society of Mechanical Engineers (ASME), 2019)Automation is becoming more and more important to achieve high efficiency and productivities in manufacturing facilities, and there has been a large increase in the use of autonomous mobile robots (AMRs) for factory ... -
Stochastic Predictive Control for Partially Observable Markov Decision Processes With Time-Joint Chance Constraints and Application to Autonomous Vehicle Control
(American Society of Mechanical Engineers (ASME), 2019)This paper describes a stochastic predictive control algorithm for partially observable Markov decision processes (POMDPs) with time-joint chance constraints. We first present the algorithm as a general tool to treat finite ... -
Periodic Control of Unmanned Aerial Vehicles Based on Differential Flatness
(American Society of Mechanical Engineers (ASME), 2019)Unmanned aerial vehicles (UAVs) are making increasingly long flights today with significantly longer mission times. This requires the UAVs to have long endurance as well as have long range capabilities. Motivated by ... -
Adaptive Unified Monitoring System Design for Tire-Road Information
(American Society of Mechanical Engineers (ASME), 2019)Knowledge of the tire-road information is not only very crucial in many active safety applications but also significant for self-driving cars. The tire-road information mainly consists of tire-road friction coefficient and ... -
Controlling an Underactuated Two-Wheeled Mobile Robot: A Constraint-Following Approach
(American Society of Mechanical Engineers (ASME), 2019)Controlling underactuated systems is a challenging problem in control engineering. This paper presents a novel constraint-following approach for control design of an underactuated two-wheeled mobile robot (2 WMR), which ... -
Robotic Fish Propelled by a Servo Motor and Ionic Polymer-Metal Composite Hybrid Tail
(American Society of Mechanical Engineers (ASME), 2019)In this paper, a new robotic fish propelled by a hybrid tail, which is actuated by two active joints, is developed. The first joint is driven by a servo motor, which generates flapping motions for main propulsion. The ... -
Nested Saturation Based Guidance Law for Unmanned Aerial Vehicles1
(American Society of Mechanical Engineers (ASME), 2019)In this paper, using the theory of input saturation, a novel path following guidance law for fixed-wing unmanned aerial vehicles (UAVs) is developed. The proposed guidance law is adapted from a pursuit plus line-of-sight ... -
Contraction Theory Approach to Disturbance Observer Based Filtered Backstepping Design
(American Society of Mechanical Engineers (ASME), 2019)Various practical applications use filtered backstepping technique, which follows the same procedure as backstepping design but uses high gain filters to circumvent the analytical computation of derivatives. As a result, ... -
Position Control of Pneumatic System Using High Gain and Backstepping Controllers
(American Society of Mechanical Engineers (ASME), 2019)This paper investigates the applicability of two state feedback controllers for a class of uniformly controllable and observable nonlinear systems. The first one is based on an appropriate high gain control principle that ... -
An Adaptive Output Feedback Proportional-Integral-Derivative Controller for n-Link Type (m,s) Electrically Driven Mobile Manipulators
(American Society of Mechanical Engineers (ASME), 2019)The design of a trajectory tracking controller for a general class of n-link type (m,s) electrically driven wheeled mobile manipulators has been addressed in this paper. In order to achieve a high level of the tracking ... -
Developing Computationally Efficient Nonlinear Cubature Kalman Filtering for Visual Inertial Odometry
(American Society of Mechanical Engineers (ASME), 2019)This paper presents a computationally efficient sensor-fusion algorithm for visual inertial odometry (VIO). The paper utilizes trifocal tensor geometry (TTG) for visual measurement model and a nonlinear deterministic-sam ... -
Seven Degrees-of-Freedom Model for the Roll Stabilization of Unstable Ships
(American Society of Mechanical Engineers (ASME), 2019)As demonstrated by the 2014 MV Sewol incident, the prevention of top heavy ship capsize is necessary to protect life and property aboard a ship. The goal of this paper is to prevent the capsize of ships, which lack a ... -
Rapid Information Transfer in Swarms Under Update-Rate-Bounds Using Delayed Self-Reinforcement
(American Society of Mechanical Engineers (ASME), 2019)The effectiveness of a network's response to external stimuli depends on rapid distortion-free information transfer across the network. However, the rate of information transfer, when each agent aligns with information ... -
Nonlinear Model Predictive Control of a Power-Split Hybrid Electric Vehicle With Consideration of Battery Aging
(American Society of Mechanical Engineers (ASME), 2019)In this paper, the nonlinear model predictive control (NMPC) for the energy management of a power-split hybrid electric vehicle (HEV) has been studied to improve battery aging while maintaining the fuel economy at a ...