Journal of Dynamic Systems Measurement and Control-Transactions of the Asme最新文献_第6页

Modeling of a Fractional Order Element Based on Bacterial Cellulose and Ionic Liquids 基于细菌纤维素和离子液体的分数阶元件建模

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-07-01 DOI: 10.1115/1.4049796

R. Caponetto, S. Graziani, E. Murgano, C. Trigona, A. Pollicino, G. Pasquale

引用次数: 2

A Comparison of Trajectory Planning and Control Frameworks for Cooperative Autonomous Driving 协同自动驾驶的轨迹规划与控制框架比较

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-07-01 DOI: 10.1115/1.4049554

I. Viana, Husain Kanchwala, Kenan Ahiska, N. Aouf

{"title":"A Comparison of Trajectory Planning and Control Frameworks for Cooperative Autonomous Driving","authors":"I. Viana, Husain Kanchwala, Kenan Ahiska, N. Aouf","doi":"10.1115/1.4049554","DOIUrl":"https://doi.org/10.1115/1.4049554","url":null,"abstract":"\u0000 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 control (MPC). The first approach solves a single nonlinear MPC problem. The general idea is to introduce a collision cost function in the optimization problem at the planning task to achieve a smooth and bounded collision function, and thus to prevent the need to implement tight hard constraints. The second method uses a hierarchical scheme with two main units: a trajectory-planning layer based on mixed-integer quadratic program (MIQP) computes an on-line collision-free trajectory using simplified motion dynamics, and a tracking controller unit to follow the trajectory from the higher level using the nonlinear vehicle model. Connected and automated vehicles (CAVs) sharing their planned trajectories lay the foundation of the cooperative behavior. In the tests and evaluation of the proposed methodologies, matlab-carsim cosimulation is utilized. carsim provides the high-fidelity model for the multibody vehicle dynamics. matlab-carsim conjoint simulation experiments compare both approaches for a cooperative double lane change maneuver of two vehicles moving along a one-way three-lane road with obstacles.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2021-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82709322","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 11

Contact Stability and Contact Safety of a Magnetic Resonance Imaging-Guided Robotic Catheter Under Heart Surface Motion. 心脏表面运动下磁共振成像引导机器人导管的接触稳定性和接触安全性。

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-07-01 Epub Date: 2021-02-23 DOI: 10.1115/1.4049837

Ran Hao, E Erdem Tuna, M Cenk Çavuşoğlu

{"title":"Contact Stability and Contact Safety of a Magnetic Resonance Imaging-Guided Robotic Catheter Under Heart Surface Motion.","authors":"Ran Hao, E Erdem Tuna, M Cenk Çavuşoğlu","doi":"10.1115/1.4049837","DOIUrl":"10.1115/1.4049837","url":null,"abstract":"<p><p>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 novel magnetic resonance imaging (MRI)-actuated robotic cardiac ablation catheter subject to surface motion disturbances are studied. First, a quasi-static contact force optimization algorithm, which calculates the actuation needed to achieve a desired contact force at an instantaneous tissue surface configuration is introduced. This algorithm is then generalized using a least-squares formulation to optimize the contact stability and safety over a prediction horizon for a given estimated heart motion trajectory. Four contact force control schemes are proposed based on these algorithms. The first proposed force control scheme employs instantaneous heart position feedback. The second control scheme applies a constant actuation level using a quasi-periodic heart motion prediction. The third and the last contact force control schemes employ a generalized adaptive filter-based heart motion prediction, where the former uses the predicted instantaneous position feedback, and the latter is a receding horizon controller. The performance of the proposed control schemes is compared and evaluated in a simulation environment.</p>","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2021-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8086176/pdf/ds-20-1403_071010.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"38986865","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

A Two-Step Optimization-Based Iterative Learning Control for Quadrotor Unmanned Aerial Vehicles 基于两步优化的四旋翼无人机迭代学习控制

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-07-01 DOI: 10.1115/1.4049566

R. Adlakha, Minghui Zheng

{"title":"A Two-Step Optimization-Based Iterative Learning Control for Quadrotor Unmanned Aerial Vehicles","authors":"R. Adlakha, Minghui Zheng","doi":"10.1115/1.4049566","DOIUrl":"https://doi.org/10.1115/1.4049566","url":null,"abstract":"\u0000 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 to improve the tracking performance through learning from errors over iterations in repetitively operated systems. The tracking errors from previous iterations are injected into a learning filter and a robust filter to generate the learning signal. The design of the two filters usually involves nontrivial tuning work. This paper presents a new two-optimization design method for the iterative learning control, which is easy to obtain and implement. In particular, the learning filter design problem is transferred into a feedback controller design problem for a purposely constructed system, which is solved based on H-infinity optimal control theory thereafter. The robust filter is then obtained by solving an additional optimization to guarantee the learning convergence. Through the proposed design method, the learning performance is optimized and the system's stability is guaranteed. The proposed two-step optimization-based design method and the regarding iterative learning control algorithm are validated by both numerical and experimental studies.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2021-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79073759","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Real-Time Planning and Nonlinear Control for Quadrupedal Locomotion With Articulated Tails 四足关节尾运动的实时规划与非线性控制

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-07-01 DOI: 10.1115/1.4049555

Randall T. Fawcett, Abhishek Pandala, Jeeseop Kim, K. Hamed

{"title":"Real-Time Planning and Nonlinear Control for Quadrupedal Locomotion With Articulated Tails","authors":"Randall T. Fawcett, Abhishek Pandala, Jeeseop Kim, K. Hamed","doi":"10.1115/1.4049555","DOIUrl":"https://doi.org/10.1115/1.4049555","url":null,"abstract":"\u0000 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 external disturbances. We present a hierarchical control scheme in which a high-level and real-time path planner, based on an event-based model predictive control (MPC), computes the optimal motion of the center of mass (COM) and tail trajectories. The MPC framework is developed for an innovative reduced-order linear inverted pendulum (LIP) model that is augmented with the tail dynamics. At the lower level of the control scheme, a nonlinear controller is implemented through the use of quadratic programming (QP) and virtual constraints to force the full-order dynamical model to track the prescribed optimal trajectories of the COM and tail while maintaining feasible ground reaction forces at the leg ends. The potential of the analytical results is numerically verified on a full-order simulation model of a quadrupedal robot augmented with a tail with a total of 20 degrees-of-freedom. The numerical studies demonstrate that the proposed control scheme coupled with the tail dynamics can significantly reduce the effect of external disturbances during quadrupedal locomotion.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2021-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84643215","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Transfer Case Clutch Torque Modeling and Validation Under Slip and Overtaken Conditions 滑移与超车工况下变速器离合器扭矩建模与验证

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-07-01 DOI: 10.1115/1.4049543

Wenpeng Wei, Hussein Dourra, G. Zhu

{"title":"Transfer Case Clutch Torque Modeling and Validation Under Slip and Overtaken Conditions","authors":"Wenpeng Wei, Hussein Dourra, G. Zhu","doi":"10.1115/1.4049543","DOIUrl":"https://doi.org/10.1115/1.4049543","url":null,"abstract":"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 performance. However, the clutch torque measurement is usually unavailable on production vehicles and needs to be estimated accurately to improve vehicle performance. This paper proposes a unified scheme to model clutch output torque under all three conditions: open (no torque output), slipping, and overtaken. Specifically, the clutch torque model under clutch overtaken condition is first investigated using the vehicle longitudinal and tire dynamics. It was found that effective radius of front tires, powered by the transfer case clutch torque, cannot be assumed as constant and should be compensated by vehicle acceleration, while the effective radius of rear tires connected directly to the propulsion system does not need to be compensated. In addition, it was found that torque model under clutch overtaken condition cannot be used under slip condition. As a result, a general clutch torque model is developed for both slip and overtaken conditions with a clutch slip speed compensation, resulting a root-mean-square error percentage (RMSE%) of 6.8% comparing with the experimental measurement data. Note that overtaken torque model is a special case of the general torque model by setting slip speed equal to zero. The general clutch torque model is able to calculate clutch output torque accurately under both slip and overtaken conditions.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2021-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90362567","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

Popov-H∞ Robust Path-Tracking Control of Autonomous Ground Vehicles with Consideration of Sector Bounded Kinematic Nonlinearity 考虑扇形有界运动非线性的自主地面车辆波波夫- h∞鲁棒路径跟踪控制

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-06-15 DOI: 10.1115/1.4051466

Xing-nan Zhou, Zejiang Wang, Junmin Wang

引用次数: 18

Design and Performance Analysis of a Cascaded Model Predictive Controller and Command Governor for Fuel-Efficient Control of Heavy-Duty Trucks 重型卡车节油控制的级联模型预测控制器和命令调速器的设计与性能分析

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-06-01 DOI: 10.1115/1.4049544

Ben Groelke, John Borek, Christian Earnhardt, C. Vermillion

引用次数: 3

Guaranteeing String Stability of Multiple Interconnected Vehicles Using Heterogeneous Controllers 利用异构控制器保证多互联车辆的串稳定性

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-06-01 DOI: 10.1115/1.4049366

A. Farnam, G. Crevecoeur

{"title":"Guaranteeing String Stability of Multiple Interconnected Vehicles Using Heterogeneous Controllers","authors":"A. Farnam, G. Crevecoeur","doi":"10.1115/1.4049366","DOIUrl":"https://doi.org/10.1115/1.4049366","url":null,"abstract":"\u0000 In this paper, the issue of string stability for acceleration-controlled vehicles interconnected in a chain is studied. String stability is concerned with having bounded displacements between vehicles in such a way that displacements should not grow unboundedly with respect to the perturbation. Different definitions can be given to string stability: one that relates to the amplification of a local disturbance acting on one vehicle toward the whole vehicle chain, more strict definition that is related to the boundedness of vector norm of displacements with respect to the bounded vector norm of disturbance inputs acting on all vehicles; and, most practical definition that considers the boundedness of signal norm of each individual displacement with respect to the bounded signal norm of disturbance inputs acting on all vehicles, independently from the number of vehicles. It has been proven that these definitions are all impossible to be achieved using any linear homogeneous unidirectional distributed controllers with constant spacing policy. This paper proposes linear heterogeneous controllers where each vehicle behaves differently from others in a vehicle chain. We prove that three different definitions of string stability can be attained using the proposed heterogeneous controller. We propose sufficient conditions to guarantee string stability and boundedness of acceleration of each vehicle. Finally, simulation results are given to illustrate the effectiveness of proposed heterogeneous control synthesis.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":1.7,"publicationDate":"2021-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77022694","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Multiple Fixed Pole-Based Rational Approximation for Fractional Order Systems 分数阶系统的多重固定极点有理逼近

IF 1.7 4区计算机科学

Journal of Dynamic Systems Measurement and Control-Transactions of the Asme Pub Date : 2021-06-01 DOI: 10.1115/1.4049557

Yiheng Wei, Hui Zhang, Y. Hou, Kun Cheng

引用次数: 1