ASME Letters in Dynamic Systems and Control最新文献

Some Results on the Properties of Discrete-Time LTI State-Space Systems 关于离散时间 LTI 状态空间系统特性的若干结果

ASME Letters in Dynamic Systems and Control Pub Date : 2024-05-23 DOI: 10.1115/1.4065590

S. Kadam, Harish J. Palanthandalam-Madapusi

引用次数: 0

Using Constrained Convex Optimization in Parameter Estimation of Process Dynamics with Dead Time 在有死区时间的过程动态参数估计中使用约束凸优化技术

ASME Letters in Dynamic Systems and Control Pub Date : 2024-02-16 DOI: 10.1115/1.4064770

M. Pal, K. Banerjee, Bivas Dam

{"title":"Using Constrained Convex Optimization in Parameter Estimation of Process Dynamics with Dead Time","authors":"M. Pal, K. Banerjee, Bivas Dam","doi":"10.1115/1.4064770","DOIUrl":"https://doi.org/10.1115/1.4064770","url":null,"abstract":"\u0000 This paper proposes the usage of constrained convex optimization in improving the quality of the parameter estimates of a typical process plant with dead time from its time response data by incorporating system-specific constraints that are not considered in standard estimation methods. As the majority of the process plants are identified as second-order plus dead time (SOPDT) systems, the proposed method uses the same for establishing the optimization process. Traditional methods for parameter estimation in SOPDT systems have often relied on heuristic approaches or simplified assumptions, leading to suboptimal results. The proposed methodology augments the accuracy of the estimated values by leveraging the power of constrained convex optimization techniques, using Newton's Quadratic Model and Sequential Quadratic Programming, which provide a rigorous mathematical framework for parameter estimation. By incorporating system constraints, such as bounds on the parameters or stability requirements, it is ensured that the obtained parameter estimates adhere to physical and practical limitations. The proposed approach is demonstrated using simulations and on a real-time system, and the results show that it is effective not only in accurately estimating the parameters of the underdamped SOPDT systems but also works efficiently for parameter estimation of SOPDT systems in the presence of measurement noise. The efficacy of the proposed algorithm is verified by comparing it with similar published methods.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"37 14","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139961855","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive Tracking Control of Robotic Manipulator Subjected to Actuator Saturation and Partial Loss of Effectiveness 受制于致动器饱和及部分失效的机器人机械手的自适应跟踪控制

ASME Letters in Dynamic Systems and Control Pub Date : 2024-02-05 DOI: 10.1115/1.4064653

Van-Tam Ngo, Yen-Chen Liu

引用次数: 0

Adaptive Tracking Control of Robotic Manipulator Subjected to Actuator Saturation and Partial Loss of Effectiveness 受制于致动器饱和及部分失效的机器人机械手的自适应跟踪控制

ASME Letters in Dynamic Systems and Control Pub Date : 2024-02-05 DOI: 10.1115/1.4064653

Van-Tam Ngo, Yen-Chen Liu

引用次数: 0

Utilisation of Manipulator Redundancy for Torque Reduction During Force Interaction 利用机械手冗余减少力相互作用过程中的扭矩

ASME Letters in Dynamic Systems and Control Pub Date : 2024-02-05 DOI: 10.1115/1.4064654

Shail V Jadav, H. Palanthandalam-Madapusi

引用次数: 0

Utilisation of Manipulator Redundancy for Torque Reduction During Force Interaction 利用机械手冗余减少力相互作用过程中的扭矩

ASME Letters in Dynamic Systems and Control Pub Date : 2024-02-05 DOI: 10.1115/1.4064654

Shail V Jadav, H. Palanthandalam-Madapusi

引用次数: 0

RELIABILITY-BASED DESIGN OPTIMIZATION OF UNCERTAIN LINEAR SYSTEMS SUBJECTED TO RANDOM VIBRATIONS 基于可靠性的受随机振动影响的不确定线性系统的优化设计

ASME Letters in Dynamic Systems and Control Pub Date : 2023-12-29 DOI: 10.1115/1.4064378

L. E. Ballesteros Martínez, S. Missoum

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引用次数: 0

Gait Sensing and Haptic Feedback Using an Inflatable Soft Haptic Sensor 使用充气式软触觉传感器进行步态传感和触觉反馈

ASME Letters in Dynamic Systems and Control Pub Date : 2023-12-29 DOI: 10.1115/1.4064377

Emiliano Quinones Yumbla, Jahnav Rokalaboina, Amber Kanechika, Souvik Poddar, Tolemy M. Nibi, Wenlong Zhang

引用次数: 0

Motion Compensator for an Untethered Walking Insect Using Adaptive Model Predictive Control 使用自适应模型预测控制的无系行走昆虫运动补偿器

ASME Letters in Dynamic Systems and Control Pub Date : 2023-12-28 DOI: 10.1115/1.4064370

Kaushik Rahman, Daniel Ehme, Clint Penick, Dal Hyung Kim

{"title":"Motion Compensator for an Untethered Walking Insect Using Adaptive Model Predictive Control","authors":"Kaushik Rahman, Daniel Ehme, Clint Penick, Dal Hyung Kim","doi":"10.1115/1.4064370","DOIUrl":"https://doi.org/10.1115/1.4064370","url":null,"abstract":"A locomotion compensator is normally utilized to observe the behavior of walking insects. These compensators cancel out the movement of freely walking insects to facilitate long-term imaging for studying behavior. However, controlling the locomotion compensator with a small error (≤1 mm) has been challenging due to the random motion of walking insects. This study introduces an adaptive model predictive control (MPC) approach combined with trajectory prediction to effectively control the Transparent Omnidirectional Locomotion Compensator (TOLC) for a randomly walking fire ant. The proposed MPC with prediction (MPCwP) utilizes the average velocity from the previous gaiting cycle to estimate its future trajectory. Experimental results demonstrate that MPCwP significantly outperforms MPC without prediction (MPCwoP), which relies solely on the current position and orientation. The distance error of the MPCwP method remains below 0.6 mm for 90.3% and 1.0 mm for 99.2% of the time, whereas MPCwoP achieves this only 32.6% and 69.1% of the time, respectively. Furthermore, the proposed method enhances the tracking performance of the heading angle, with the heading angle error staying below 8° for 92.6% of the time (ωθ = 1.0). The enhanced performance of the proposed MPC has the potential to improve the observation images and enable the integration of additional equipment such as an optical microscope for brain or organ imaging.","PeriodicalId":327130,"journal":{"name":"ASME Letters in Dynamic Systems and Control","volume":"22 23","pages":""},"PeriodicalIF":0.0,"publicationDate":"2023-12-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139148457","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Neuromuscular State Estimation via Space-by-Time Neural Signal Decomposition 通过逐时神经信号分解进行神经肌肉状态估计

ASME Letters in Dynamic Systems and Control Pub Date : 2023-11-17 DOI: 10.1115/1.4064069

Avinash Baskaran, David Hollinger, Rhet O. Hailey, Michael Zabala, Chad G Rose

引用次数: 0