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Proceedings Papers

The Effects of Trailer Towing on the Dynamics of a Lane-Keeping Controller

Illés Vörös, Dénes Takács
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, V001T02A004, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3141
https://doi.org/10.1115/DSCC2020-3141
View Paper titled, The Effects of Trailer Towing on the Dynamics of a Lane-Keeping Controller
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Topics: Control equipment, Dynamics (Mechanics), Stability, Feedback, Safety, Vehicles
Proceedings Papers

Dynamic Locomotion of a Lower-Limb Exoskeleton Through Virtual Constraints Based ZMP Regulation

Victor Paredes, Ayonga Hereid
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, V001T14A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3170
https://doi.org/10.1115/DSCC2020-3170
View Paper titled, Dynamic Locomotion of a Lower-Limb Exoskeleton Through Virtual Constraints Based ZMP Regulation
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Topics: Exoskeleton devices, Dynamics (Mechanics), Hardware, Robots, Stability, Center of mass, Control equipment, Force sensors, Motion control, Robotics
Proceedings Papers

Stability and Control of Chaplygin Beanies Coupled to a Platform Through Nonholonomic Constraints

Blake Buchanan, Matthew Travers, Howie Choset, Scott Kelly
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T30A006, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3315
https://doi.org/10.1115/DSCC2020-3315
View Paper titled, Stability and Control of Chaplygin Beanies Coupled to a Platform Through Nonholonomic Constraints
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Topics: Stability, Vehicles, Deformation, Dynamics (Mechanics), Frequency response, Modeling, Momentum, Multi-agent systems
Proceedings Papers

Sampled-Data Observer Based Dynamic Surface Control of Delayed Neuromuscular Functional Electrical Stimulation

Qiang Zhang, Ashwin Iyer, Ziyue Sun, Albert Dodson, Nitin Sharma
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, V001T14A003, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3225
https://doi.org/10.1115/DSCC2020-3225
View Paper titled, Sampled-Data Observer Based Dynamic Surface Control of Delayed Neuromuscular Functional Electrical Stimulation
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Topics: Delays, Diseases, Dynamics (Mechanics), Errors, Exoskeleton devices, Imaging, Muscle, Nervous system, Simulation results, Stability
Proceedings Papers

Passivity-Based Distributed Acquisition and Station-Keeping Control of a Satellite Constellation in Areostationary Orbit

Emmanuel Sin, He Yin, Murat Arcak
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T30A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3136
https://doi.org/10.1115/DSCC2020-3136
View Paper titled, Passivity-Based Distributed Acquisition and Station-Keeping Control of a Satellite Constellation in Areostationary Orbit
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Topics: Satellites, Equilibrium (Physics), Storage, Simulation results, Stability
Proceedings Papers

Teleoperated Motorized Functional Electric Stimulation Actuated Rehabilitative Cycling

Kimberly J. Stubbs, Brendon C. Allen, Warren E. Dixon
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, V001T17A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3131
https://doi.org/10.1115/DSCC2020-3131
View Paper titled, Teleoperated Motorized Functional Electric Stimulation Actuated Rehabilitative Cycling
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Topics: Cycles, Engines, Fatigue, Motors, Muscle, Nervous system, Plasticity, Rotation, Stability
Proceedings Papers

Formation Control of Non-Holonomic Mobile Robots Moving on Slippery Surfaces

Violet Mwaffo, Pietro De Lellis, Sean Humbert
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T30A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3162
https://doi.org/10.1115/DSCC2020-3162
View Paper titled, Formation Control of Non-Holonomic Mobile Robots Moving on Slippery Surfaces
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Topics: Computer simulation, Design, Dynamics (Mechanics), Gravel, Kinematics, Mobile robots, Noise (Sound), Roads, Robotics, Robots
Proceedings Papers

Formation Control for Underactuated Surface Vessel Networks

Bo Wang, Sergey Nersesov, Hashem Ashrafiuon
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T30A003, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3178
https://doi.org/10.1115/DSCC2020-3178
View Paper titled, Formation Control for Underactuated Surface Vessel Networks
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Topics: Vessels, Errors, Actuators, Dynamic models, Dynamics (Mechanics), Algebra, Cascades (Fluid dynamics), Closed loop systems, Control algorithms, Degrees of freedom
Proceedings Papers

Motorized and Functional Electrical Stimulation Induced Cycling via Switched Adaptive Concurrent Learning Control

Jonathan Casas, Chen-Hao Chang, Victor H. Duenas
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, V001T17A005, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3311
https://doi.org/10.1115/DSCC2020-3311
View Paper titled, Motorized and Functional Electrical Stimulation Induced Cycling via Switched Adaptive Concurrent Learning Control
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Topics: Control equipment, Cycles, Design, Electric motors, Excitation, Muscle, Parameter estimation, Stability
Proceedings Papers

Vibrational Control of a 2-Link Mechanism

Zakia Ahmed, Sevak Tahmasian, Craig A. Woolsey
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T38A005, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3257
https://doi.org/10.1115/DSCC2020-3257
View Paper titled, Vibrational Control of a 2-Link Mechanism
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Topics: Damping, Dynamics (Mechanics), Oscillations, Stability, Stiffness
Proceedings Papers

Control Allocation Application to Automotive Suspension Actuators for Handling Objectives

Alex K. Beckerman, Gladys Abapo, Layne Clemen
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T37A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3130
https://doi.org/10.1115/DSCC2020-3130
View Paper titled, Control Allocation Application to Automotive Suspension Actuators for Handling Objectives
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Topics: Actuators, Suspension systems, Vehicles, Aerospace industry, Automotive industry, Dynamics (Mechanics), Robustness, Simulation, Stability, Tires
Proceedings Papers

Stability Analysis and Controller Design for Linear Time Periodic Systems Using Normal Forms

Susheelkumar C. Subramanian, Sangram Redkar
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T38A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3132
https://doi.org/10.1115/DSCC2020-3132
View Paper titled, Stability Analysis and Controller Design for Linear Time Periodic Systems Using Normal Forms
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Topics: Control equipment, Design, Stability
Proceedings Papers

The Effect of Time Delay on the Stability Control of Trailers

Hanna Zs. Horvath, Denes Takacs
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T38A004, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3254
https://doi.org/10.1115/DSCC2020-3254
View Paper titled, The Effect of Time Delay on the Stability Control of Trailers
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Topics: Delays, Stability, Braking, Vehicles, Yaw, Center of mass, Computer simulation, Control algorithms, Control equipment, Dampers
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

Effect of Additional Weight on Human Squat Exercise Stability: Ground Reaction Forces and Centers of Pressure

Jose Galarza, Dumitru I. Caruntu
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, V001T06A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3216
https://doi.org/10.1115/DSCC2020-3216
View Paper titled, Effect of Additional Weight on Human Squat Exercise Stability: Ground Reaction Forces and Centers of Pressure
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Topics: Pressure, Stability, Weight (Mass)
Proceedings Papers

New Analysis/Design of Generalized Discrete PI Controller via Discrete Time Delay Control for Nonlinear Systems

Suresh B. Reddy
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, V001T04A003, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3149
https://doi.org/10.1115/DSCC2020-3149
View Paper titled, New Analysis/Design of Generalized Discrete PI Controller via Discrete Time Delay Control for Nonlinear Systems
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Topics: Control equipment, Design, Nonlinear systems, Time delay systems, Dynamics (Mechanics), Control systems, Delays, Feedback, Stability, Time-invariant systems
Proceedings Papers

A Novel Intelligent Learning Control Scheme for Discrete-Time Nonlinear Uncertain Systems in Multiple Environments

Jingting Zhang, Chengzhi Yuan, Paolo Stegagno
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, V001T01A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3112
https://doi.org/10.1115/DSCC2020-3112
View Paper titled, A Novel Intelligent Learning Control Scheme for Discrete-Time Nonlinear Uncertain Systems in Multiple Environments
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Topics: Uncertain systems, Control equipment, Artificial neural networks, Dynamics (Mechanics), Pattern recognition, Real-time control, Simulation, Stability
Proceedings Papers

Position and Attitude Control of Underactuated Drones Using the Adaptive Function Approximation Technique

Azin Shamshirgaran, Donald Ebeigbe, Dan Simon
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, V001T01A004, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3211
https://doi.org/10.1115/DSCC2020-3211
View Paper titled, Position and Attitude Control of Underactuated Drones Using the Adaptive Function Approximation Technique
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Topics: Function approximation, Unmanned aerial vehicles, Signals, Control equipment, Closed loop systems, Control algorithms, Design, Design methodology, Feedback, Kalman filters
Proceedings Papers

Multiple Sliding Surface Controller for a Quadrotor for Improved Robustness Against Wind Disturbances

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, V001T04A005, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3263
https://doi.org/10.1115/DSCC2020-3263
View Paper titled, Multiple Sliding Surface Controller for a Quadrotor for Improved Robustness Against Wind Disturbances
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Topics: Control equipment, Robustness, Wind, Design, Energy consumption, Sliding mode control, Stability
Proceedings Papers

Modeling Analysis of the Wrist Dynamics via an Ellipsoidal Joint

Jiamin Wang, Sunit K. Gupta, Oumar Barry
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, V001T08A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3127
https://doi.org/10.1115/DSCC2020-3127
View Paper titled, Modeling Analysis of the Wrist Dynamics via an Ellipsoidal Joint
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Topics: Biomechanics, Computer simulation, Damping, Dynamics (Mechanics), Engineering simulation, Kinematics, Limit cycles, Modeling, Modeling analysis, Nonlinear dynamics