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Proceedings Papers

Experimental and Analytical Decentralized Adaptive Control of a 7-DOF Robot Manipulator

Alexander Bertino, Peiman Naseradinmousavi, Atul Kelkar
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T05A004, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3181
https://doi.org/10.1115/DSCC2020-3181
View Paper titled, Experimental and Analytical Decentralized Adaptive Control of a 7-DOF Robot Manipulator
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Topics: Adaptive control, Manipulators, Robots, Control equipment, Simulation, Tracking control, Trajectories (Physics)
Proceedings Papers

A Novel Approach to Time Series Forecasting Using Model-Free Adaptive Control Framework

Meenakshi Narayan, Ann Majewicz Fey
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T12A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3329
https://doi.org/10.1115/DSCC2020-3329
View Paper titled, A Novel Approach to Time Series Forecasting Using Model-Free Adaptive Control Framework
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Topics: Adaptive control, Time series, Algorithms, Computation, Control systems, Errors, Force sensors, Machine learning, Needles, Optimal control
Proceedings Papers

Further Results on Performance Guarantees in Adaptive Control of Uncertain Systems With Unmodeled Dynamics

K. Merve Dogan, Tansel Yucelen, Jonathan A. Muse
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T01A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3111
https://doi.org/10.1115/DSCC2020-3111
View Paper titled, Further Results on Performance Guarantees in Adaptive Control of Uncertain Systems With Unmodeled Dynamics
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Topics: Adaptive control, Dynamics (Mechanics), Uncertain systems, Stability, Uncertainty, Aerospace systems, Air Force, Closed loop systems, Linear matrix inequalities, Theorems (Mathematics)
Proceedings Papers

PD Controller With Self Adaptive Gains for Quadrotor Waypoint Navigation

Madhavan Sudakar, Siddharth Sridhar, Manish Kumar
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T03A005, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3327
https://doi.org/10.1115/DSCC2020-3327
View Paper titled, PD Controller With Self Adaptive Gains for Quadrotor Waypoint Navigation
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Topics: Control equipment, Navigation, Adaptive control, Control algorithms, Degrees of freedom, Dynamics (Mechanics), Errors, Flight, Stability
Proceedings Papers

Adaptive Control of Nanowires Motion Using Electric Fields in Fluid Suspension

Juan Wu, Kaiyan Yu
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T02A003, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9051
https://doi.org/10.1115/DSCC2019-9051
View Paper titled, Adaptive Control of Nanowires Motion Using Electric Fields in Fluid Suspension
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Topics: Adaptive control, Electric fields, Fluids, Nanowires, Control equipment, Mechanical admittance, Nanomanufacturing, Nanotubes, Simulation, Stability
Proceedings Papers

Adaptive Control of Large-Scale Soft Robot Manipulators With Unknown Payloads

Jonathan S. Terry, Justin Whitaker, Randal W. Beard, Marc D. Killpack
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T20A003, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9037
https://doi.org/10.1115/DSCC2019-9037
View Paper titled, Adaptive Control of Large-Scale Soft Robot Manipulators With Unknown Payloads
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Topics: Adaptive control, Manipulators, Control equipment, Robots, Degrees of freedom, End effectors, Nonlinear dynamics, Pneumatic actuators, Predictive control, System dynamics
Proceedings Papers

Comparison of Adaptive Control Laws for Wind Rejection in Quadrotor UAVs

Johannes Verberne, Hever Moncayo
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T16A004, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8957
https://doi.org/10.1115/DSCC2019-8957
View Paper titled, Comparison of Adaptive Control Laws for Wind Rejection in Quadrotor UAVs
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Topics: Adaptive control, Unmanned aerial vehicles, Wind, Control algorithms, Artificial neural networks, Flight, Algorithms, Control equipment, Degrees of freedom, Energy consumption
Proceedings Papers

Partitioned Adaptive Control Based on Neural Network of a Flexible Space Robot After Capture Operation

Jing Cheng, Li Chen, Jianxun Liang, Wei Ma
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T01A011, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9167
https://doi.org/10.1115/DSCC2018-9167
View Paper titled, Partitioned Adaptive Control Based on Neural Network of a Flexible Space Robot After Capture Operation
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Topics: Adaptive control, Artificial neural networks, Robots, Vibration, Approximation, Collisions (Physics), Composite materials, Computers, Control algorithms, Control equipment
Proceedings Papers

A Fault Tolerant Vehicle Stability Control Using Adaptive Control Allocation

Ozan Temiz, Melih Cakmakci, Yildiray Yildiz
Proc. ASME. DSCC2018, Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare, V001T09A002, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-8976
https://doi.org/10.1115/DSCC2018-8976
View Paper titled, A Fault Tolerant Vehicle Stability Control Using Adaptive Control Allocation
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Topics: Adaptive control, Stability, Vehicles, Wheels, Traction, Yaw, Actuators, Brakes, Degrees of freedom, Failure
Proceedings Papers

Effects of Linear Filter on Stability and Performance of Human-in-the-Loop Model Reference Adaptive Control Architectures

Ehsan Yousefi, Didem Fatma Demir, Rifat Sipahi, Tansel Yucelen, Yildiray Yildiz
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T15A001, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5001
https://doi.org/10.1115/DSCC2017-5001
View Paper titled, Effects of Linear Filter on Stability and Performance of Human-in-the-Loop Model Reference Adaptive Control Architectures
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Topics: Adaptive control, Architecture, Filters, Stability, Dynamics (Mechanics), Errors, Computation, Design, Optimization, Uncertainty
Proceedings Papers

A Model Reference Adaptive Control Framework for Uncertain Dynamical Systems With High-Order Actuator Dynamics and Unknown Actuator Outputs

Benjamin C. Gruenwald, K. Merve Dogan, Tansel Yucelen, Jonathan A. Muse
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T15A003, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5062
https://doi.org/10.1115/DSCC2017-5062
View Paper titled, A Model Reference Adaptive Control Framework for Uncertain Dynamical Systems With High-Order Actuator Dynamics and Unknown Actuator Outputs
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Topics: Actuators, Adaptive control, Dynamic systems, Dynamics (Mechanics), Stability, Control equipment, Scalars, Design, Uncertainty, Vehicles
Proceedings Papers

Adaptive Control Design for Nonlinear Systems via Successive Approximations

Naser Babaei, Metin U. Salamci, Ahmet Hakan Karakurt
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T15A006, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5353
https://doi.org/10.1115/DSCC2017-5353
View Paper titled, Adaptive Control Design for Nonlinear Systems via Successive Approximations
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Topics: Adaptive control, Approximation, Design, Nonlinear systems, Design methodology, Dynamics (Mechanics), Nonlinear dynamical systems
Proceedings Papers

An Adaptive PID Controller Based on Bayesian Theory

S. Andrew Gadsden
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T12A005, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5340
https://doi.org/10.1115/DSCC2017-5340
View Paper titled, An Adaptive PID Controller Based on Bayesian Theory
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Topics: Control equipment, Adaptive control, Dynamic systems, Errors, Gain scheduling, Theorems (Mathematics), Trajectories (Physics)
Proceedings Papers

Resilient Control of Linear Time-Invariant Networked Multiagent Systems

J. Daniel Peterson, Gerardo De La Torre, Tansel Yucelen, Dzung Tran, K. Merve Dogan, Drew McNeely
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T14A002, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5059
https://doi.org/10.1115/DSCC2017-5059
View Paper titled, Resilient Control of Linear Time-Invariant Networked Multiagent Systems
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Topics: Multi-agent systems, Adaptive control, Dynamics (Mechanics)
Proceedings Papers

Application of Robust-Adaptive Sliding Mode Control to the Speed Regulation of a Brushless AC Actuator System

Kwanghyeon Cho, Nicholas Candelino, Nader Jalili
Proc. ASME. DSCC2017, Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications, V002T01A002, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5188
https://doi.org/10.1115/DSCC2017-5188
View Paper titled, Application of Robust-Adaptive Sliding Mode Control to the Speed Regulation of a Brushless AC Actuator System
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Topics: Actuators, Sliding mode control, Bearings, Engineering prototypes, Gears, Uncertainty, Adaptive control, Aeronautics, Collaboration, Computer simulation
Proceedings Papers

A Modular 2-DOF Serial Robot Manipulator for Education in Robot Control

Stephen Mascaro
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T25A002, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9878
https://doi.org/10.1115/DSCC2016-9878
View Paper titled, A Modular 2-DOF Serial Robot Manipulator for Education in Robot Control
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Topics: Education, Manipulators, Robots, Adaptive control, Architecture, Computer software, Dynamics (Mechanics), End effectors, Feedforward control, Force control
Proceedings Papers

Handling Model and Implementation Uncertainties via an Adaptive Discrete Sliding Mode Controller Design

Mohammad Reza Amini, Mahdi Shahbakhti, Selina Pan, J. Karl Hedrick
Proc. ASME. DSCC2016, Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control, V002T28A001, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9732
https://doi.org/10.1115/DSCC2016-9732
View Paper titled, Handling Model and Implementation Uncertainties via an Adaptive Discrete Sliding Mode Controller Design
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Topics: Control equipment, Design, Uncertainty, Adaptive control, Robustness, Automotive engines, Cycles, Dynamics (Mechanics), Failure, Modeling
Proceedings Papers

Stable Robust Adaptive Impedance Control of a Prosthetic Leg

Vahid Azimi, Dan Simon, Hanz Richter
Proc. ASME. DSCC2015, Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems, V001T09A003, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9794
https://doi.org/10.1115/DSCC2015-9794
View Paper titled, Stable Robust Adaptive Impedance Control of a Prosthetic Leg
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Topics: Artificial limbs, Control equipment, Particle swarm optimization, Boundary layers, Robustness, Stability, Adaptive control, Design, Errors, Noise (Sound)
Proceedings Papers

Hierarchical Design for Connected Cruise Control

Linjun Zhang, Chaozhe He, Jing Sun, Gábor Orosz
Proc. ASME. DSCC2015, Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems, V001T17A005, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9993
https://doi.org/10.1115/DSCC2015-9993
View Paper titled, Hierarchical Design for Connected Cruise Control
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Topics: Design, Vehicles, Control equipment, Adaptive control, Algorithms, Computer simulation, Engines, Gears, Torque
Proceedings Papers

State Emulator-Based Adaptive Architectures for Resilient Networked Multiagent Systems Over Directed and Time-Varying Graphs

Gerardo De La Torre, Tansel Yucelen
Proc. ASME. DSCC2015, Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems, V003T37A006, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9802
https://doi.org/10.1115/DSCC2015-9802
View Paper titled, State Emulator-Based Adaptive Architectures for Resilient Networked Multiagent Systems Over Directed and Time-Varying Graphs
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Topics: Architecture, Multi-agent systems, Stability, Adaptive control, Mathematics