Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

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Control of Uncertain LTI Systems Based on an Uncertainty and Disturbance Estimator
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME - Tập 126 Số 4 - Trang 905-910 - 2004
Qing‐Chang Zhong, D. Rees
This paper proposes a robust control strategy for uncertain LTI systems. The strategy is based on an uncertainty and disturbance estimator (UDE). It brings similar performance as the time-delay control (TDC). The advantages over TDC are: (i) no delay is introduced into the system; (ii) there are no oscillations in the control signal; and (iii) there is no need of measuring the derivatives ...... hiện toàn bộ
Mapping a Space Manipulator to a Dynamically Equivalent Manipulator
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME - Tập 120 Số 1 - Trang 1-7 - 1998
Bin Liang, Yangsheng Xu, Marcel Bergerman
In this paper, we discuss the problem of how a free-floating space manipulator can be mapped to a conventional, fixed-base manipulator which preserves both its dynamic and kinematic properties. This manipulator is called Dynamically Equivalent Manipulator (DEM). The DEM concept not only allows us to model a free-floating space manipulator system with simple, well-understood methods, but al...... hiện toàn bộ
Performance Evaluation of Medium Access Control Protocols for Distributed Digital Avionics
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME - Tập 109 Số 4 - Trang 370-377 - 1987
Asok Ray
The paper presents the results of an ongoing research project where the objectives are to evaluate medium access control (MAC) protocols in view of the requirements for distributed digital flight control systems (DDFCS) of advanced aircraft and to recommend a specific protocol for their prototype development. The selection of an appropriate MAC protocol is critical for the dynamic performa...... hiện toàn bộ
Adaptive Controller and Observer Design for a Class of Nonlinear Systems
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME - Tập 128 Số 3 - Trang 712-717 - 2006
Yongliang Zhu, Prabhakar R. Pagilla
Abstract Design of a stable adaptive controller and observer for a class of nonlinear systems that contain product of unmeasurable states and unknown parameters is considered. The nonlinear system is cast into a suitable form based on which a stable adaptive controller and observer are designed using a parameter dependent Lyapunov function. The class...... hiện toàn bộ
Preshaping Command Inputs to Reduce System Vibration
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME - Tập 112 Số 1 - Trang 76-82 - 1990
Neil C. Singer, Warren Seering
A method is presented for generating shaped command inputs which significantly reduce or eliminate endpoint vibration. Desired system inputs are altered so that the system completes the requested move without residual vibration. A short move time penalty is incurred (on the order of one period of the first mode of vibration). The preshaping technique is robust under system parameter uncert...... hiện toàn bộ
Distributed Detect-and-Avoid for Multiple Unmanned Aerial Vehicles in National Air Space
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME - Tập 141 Số 7 - 2019
Mohammad Sarim, Mohammadreza Radmanesh, Matthew Dechering, Manish Kumar, Ravikumar Pragada, Kelly Cohen
Small unmanned aerial vehicles (UAVs) have the potential to revolutionize various applications in civilian domain such as disaster management, search and rescue operations, law enforcement, precision agriculture, and package delivery. As the number of such UAVs rise, a robust and reliable traffic management is needed for their integration in national airspace system (NAS) to enable real-ti...... hiện toàn bộ
Estimating Reachable Sets
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME - Tập 103 Số 4 - Trang 420-422 - 1981
Walter J. Grantham
Two methods are presented for investigating reachable sets for nonlinear control systems. One method, based on a reachability maximum principle, lacks appropriate boundary conditions if the reachable set is not closed. The main result of the paper is an approximate method employing a Lyapunov-type function and an associated optimization problem, both involving a parameter vector. For each ...... hiện toàn bộ
Nonlinear Adaptive Observer for a Lithium-Ion Battery Cell Based on Coupled Electrochemical–Thermal Model
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME - Tập 137 Số 11 - 2015
Satadru Dey, Beshah Ayalew, Pierluigi Pisu
Real-time estimation of battery internal states and physical parameters is of the utmost importance for intelligent battery management systems (BMS). Electrochemical models, derived from the principles of electrochemistry, are arguably more accurate in capturing the physical mechanism of the battery cells than their counterpart data-driven or equivalent circuit models (ECM). Moreover, the ...... hiện toàn bộ
Mô Hình Hóa và Điều Khiển Robot Có Khớp Nún Dịch bởi AI
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME - Tập 109 Số 4 - Trang 310-318 - 1987
Mark W. Spong
Trong bài báo này, chúng tôi nghiên cứu mô hình hóa và điều khiển các robot manipulators có khớp nún. Đầu tiên, chúng tôi suy diễn một mô hình đơn giản để mô tả động lực học của các manipulators có khớp nún. Mô hình được suy diễn dưới hai giả định về sự kết nối động lực giữa các bộ truyền động và các thanh nối, và mô hình này hữu ích trong các trường hợp mà độ đàn hồi trong các khớp quan t...... hiện toàn bộ
Advances in Nonlinear Wheel/Rail Force Prediction Methods and Their Validation
Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME - Tập 104 Số 2 - Trang 133-142 - 1982
J A Elkins, Bridget Eickhoff
Improvements have been made to the nonlinear wheel / rail force prediction method of Elkins and Gostling. These improvements are described, along with the experimental equipment used in order to provide input data for the predictions, and to validate them. A further series of curving tests, using a Laboratory Coach equipped with bogies having variable suspension parameters, has been carrie...... hiện toàn bộ
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