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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

Two-Stage Robust Tracking Controller for Linear Systems With Known Uncertainty Using Filtered Basis Functions

Keval S. Ramani, Chinedum E. Okwudire
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, V002T35A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3207
https://doi.org/10.1115/DSCC2020-3207
View Paper titled, Two-Stage Robust Tracking Controller for Linear Systems With Known Uncertainty Using Filtered Basis Functions
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Topics: Control equipment, Linear systems, Uncertainty, Dynamics (Mechanics), Errors, Filtration, Tracking control
Proceedings Papers

Uncertainty and Disturbance Estimator-Based Robust Region Tracking Control for Multiple Quadrotors

Qi Lu, Beibei Ren, Yuan-dong Ji
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, V002T36A009, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3308
https://doi.org/10.1115/DSCC2020-3308
View Paper titled, Uncertainty and Disturbance Estimator-Based Robust Region Tracking Control for Multiple Quadrotors
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Topics: Tracking control, Uncertainty, Trajectories (Physics), Collisions (Physics), Control equipment, Degrees of freedom, Dynamics (Mechanics), Simulation
Proceedings Papers

The Swirling Pendulum: Conceptualization, Modeling, Equilibria and Control Synthesis

Sujay D. Kadam, Utsav Shah, Alrick D’Souza, Prajwal Gowdru Shanthamurthy, Nidhish Raj, Ravi N. Banavar, Harish J. Palanthandalam-Madapusi
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, V001T16A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3140
https://doi.org/10.1115/DSCC2020-3140
View Paper titled, The Swirling Pendulum: Conceptualization, Modeling, Equilibria and Control Synthesis
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Topics: Modeling, Pendulums, Swirling flow, Dynamics (Mechanics), Equilibrium (Physics), Control theory, Degrees of freedom, Engineering simulation, Hardware, Rotation
Proceedings Papers

Erratum: “Modeling the Gas Exchange Processes of a Modern Diesel Engine With an Integrated Physics-Based and Data-Driven Approach” [ASME 2019 Dynamic Systems and Control Conference, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, Park City, Utah, USA, October 8–11, 2019, Conference Sponsors: Dynamic Systems and Control Division, ISBN: 978-0-7918-5915-5, Copyright © 2019 by ASME. Paper No. DSCC2019-9226, pp. V002T11A004; 10 pages; doi: 10.1115/DSCC2019-9226]

Jorge Pulpeiro Gonzalez, King Ankobea-Ansah, Elena Escuder Milian, Carrie M. Hall
Proc. ASME. DSCC2019, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, V002T11A004e, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9226e
https://doi.org/10.1115/DSCC2019-9226e
View Paper titled, Erratum: “Modeling the Gas Exchange Processes of a Modern Diesel Engine With an Integrated Physics-Based and Data-Driven Approach” [ASME 2019 Dynamic Systems and Control Conference, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, Park City, Utah, USA, October 8–11, 2019, Conference Sponsors: Dynamic Systems and Control Division, ISBN: 978-0-7918-5915-5, Copyright © 2019 by ASME. Paper No. DSCC2019-9226, pp. V002T11A004; 10 pages; doi: 10.1115/DSCC2019-9226]
Open the PDF for Erratum: “Modeling the Gas Exchange Processes of a Modern Diesel Engine With an Integrated Physics-Based and Data-Driven Approach” [ASME 2019 Dynamic Systems and Control Conference, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, Park City, Utah, USA, October 8–11, 2019, Conference Sponsors: Dynamic Systems and Control Division, ISBN: 978-0-7918-5915-5, Copyright © 2019 by ASME. Paper No. DSCC2019-9226, pp. V002T11A004; 10 pages; doi: 10.1115/DSCC2019-9226] in another window
Topics: Aircraft, Control modeling, Diesel engines, Dynamic systems, Energy / power systems, Engines, Internal combustion engines, Modeling, Modeling analysis, Path planning
Proceedings Papers

Global-Position Tracking Control of Multi-Domain Planar Bipedal Robotic Walking

Yuan Gao, Yan Gu
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, V001T03A009, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9117
https://doi.org/10.1115/DSCC2019-9117
View Paper titled, Global-Position Tracking Control of Multi-Domain Planar Bipedal Robotic Walking
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Topics: Robotics, Tracking control, Robots, Dynamics (Mechanics), Closed loop systems, Construction, Engineering simulation, Modeling, Simulation
Proceedings Papers

Adaptive NN Learning Control of Discrete-Time Nonlinear Uncertain Systems

Jingting Zhang, Chengzhi Yuan, Paolo Stegagno
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, V003T16A002, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8923
https://doi.org/10.1115/DSCC2019-8923
View Paper titled, Adaptive NN Learning Control of Discrete-Time Nonlinear Uncertain Systems
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Topics: Uncertain systems, Tracking control, Control equipment, Artificial neural networks, Composite materials, Computer simulation, Nonlinear dynamics, Rendering
Proceedings Papers

Integrated Forward and Reverse Trajectory Tracking Control for Car-Like Ground Vehicle

Yuanyan Chen, J. Jim Zhu, Letian Lin
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, V003T21A007, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9104
https://doi.org/10.1115/DSCC2019-9104
View Paper titled, Integrated Forward and Reverse Trajectory Tracking Control for Car-Like Ground Vehicle
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Topics: Tracking control, Trajectories (Physics), Vehicles, Design, Kinematics, Control equipment, Dynamics (Mechanics), Hardware, Collisions (Physics), Nonlinear dynamics
Proceedings Papers

Periodic Tracking Control Using Gain-Scheduled Fourier Series-Based Internal Models

Dylan Caverly, Ryan James Caverly, James Richard Forbes
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, V003T19A002, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-8945
https://doi.org/10.1115/DSCC2019-8945
View Paper titled, Periodic Tracking Control Using Gain-Scheduled Fourier Series-Based Internal Models
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Topics: Closed loop systems, Control equipment, Errors, Fourier series, Heat exchangers, Signals, Stability, Steady state, Temperature, Theorems (Mathematics)
Proceedings Papers

Trajectory Tracking and Control for Nonholonomic Ground Vehicle: Preliminary and Experimental Test

Yuanyan Chen, J. Jim Zhu
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T37A007, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9148
https://doi.org/10.1115/DSCC2018-9148
View Paper titled, Trajectory Tracking and Control for Nonholonomic Ground Vehicle: Preliminary and Experimental Test
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Topics: Trajectories (Physics), Vehicles, Design, Control equipment, Hardware, Tracking control, Dynamics (Mechanics), Kinematics, Model vehicles, Testing
Proceedings Papers

Robust Filtered Basis Functions Approach for Feedforward Tracking Control

Keval S. Ramani, Chinedum E. Okwudire
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T35A003, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9196
https://doi.org/10.1115/DSCC2018-9196
View Paper titled, Robust Filtered Basis Functions Approach for Feedforward Tracking Control
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Topics: Feedforward control, Tracking control, Errors, Uncertainty, Filters, Filtration, Simulation, Time-invariant systems, Trajectories (Physics)
Proceedings Papers

Cooperative Deterministic Learning-Based Trajectory Tracking for a Group of Unicycle-Type Vehicles

Xiaonan Dong, Chengzhi Yuan, Fen Wu
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T30A006, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9003
https://doi.org/10.1115/DSCC2018-9003
View Paper titled, Cooperative Deterministic Learning-Based Trajectory Tracking for a Group of Unicycle-Type Vehicles
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Topics: Trajectories (Physics), Vehicles, Algorithms, Tracking control, Artificial neural networks, Closed loop systems, Nonlinear dynamics, Stability, State feedback
Proceedings Papers

Setpoint Tracking Control With Discrete Actuators Using Controller Switching

Y. Chida, R. Hara
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, V001T01A003, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-8956
https://doi.org/10.1115/DSCC2018-8956
View Paper titled, Setpoint Tracking Control With Discrete Actuators Using Controller Switching
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Topics: Actuators, Control equipment, Tracking control, Errors, Computer simulation, Limit cycles, Servomechanisms, Steady state, Switches, Vibration
Proceedings Papers

Energy-Efficient Adaptive Robust Control of Vector Thrust UAVs With Unknown Inertia Parameters

Caiwu Ding, Lu Lu, Cong Wang
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T36A005, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9133
https://doi.org/10.1115/DSCC2018-9133
View Paper titled, Energy-Efficient Adaptive Robust Control of Vector Thrust UAVs With Unknown Inertia Parameters
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Topics: Inertia (Mechanics), Robust control, Thrust, Unmanned aerial vehicles, Uncertainty, Control equipment, Propellers, Center of mass, Energy consumption, Optimization
Proceedings Papers

A Data-Driven Approach for UAV Tracking Control

Soumya Vasisht, Mehran Mesbahi
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, V001T02A001, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5091
https://doi.org/10.1115/DSCC2017-5091
View Paper titled, A Data-Driven Approach for UAV Tracking Control
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Topics: Tracking control, Unmanned aerial vehicles, Aircraft, Control equipment, Noise (Sound), Sensors, Wings
Proceedings Papers

Nonlinear Tracking Control of an Antagonistic Muscle Pair Actuated System

Holly Warner, Hanz Richter, Antonie van den Bogert
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, V001T38A006, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5384
https://doi.org/10.1115/DSCC2017-5384
View Paper titled, Nonlinear Tracking Control of an Antagonistic Muscle Pair Actuated System
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Topics: Muscle, Tracking control, Control equipment, Simulation, Actuators, Dynamics (Mechanics), Feedback, Hardware, Hazards, Machinery
Proceedings Papers

Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments

Dejun Guo, Kam K. Leang
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, V001T02A003, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5135
https://doi.org/10.1115/DSCC2017-5135
View Paper titled, Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments
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Topics: Robots, Servomechanisms, Closed loop systems, Control equipment, Control systems, Errors, Geometry, Lyapunov methods, Signals, Simulation
Proceedings Papers

Trajectory Tracking Control for a Robotic Manipulator Using Nonlinear Active Disturbance Rejection Control

Mohammed Ali, Charles K. Alexander
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, V002T12A002, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5088
https://doi.org/10.1115/DSCC2017-5088
View Paper titled, Trajectory Tracking Control for a Robotic Manipulator Using Nonlinear Active Disturbance Rejection Control
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Topics: Manipulators, Tracking control, Trajectories (Physics), Dynamics (Mechanics), End effectors, Energy consumption, Engineering simulation, Robustness, Signals, Simulation
Proceedings Papers

Car-Like Ground Vehicle Trajectory Tracking by Using Trajectory Linearization Control

Yuanyan Chen, J. Jim Zhu
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, V002T21A014, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5372
https://doi.org/10.1115/DSCC2017-5372
View Paper titled, Car-Like Ground Vehicle Trajectory Tracking by Using Trajectory Linearization Control
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Topics: Trajectories (Physics), Vehicles, Dynamics (Mechanics), Actuators, Computer simulation, Control equipment, Degrees of freedom, Design, Drag (Fluid dynamics), Modeling
Proceedings Papers

Tracking Control Design for Variable Mass and Configuration Robotic Systems

Elżbieta Jarzębowska
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, V002T29A002, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9688
https://doi.org/10.1115/DSCC2016-9688
View Paper titled, Tracking Control Design for Variable Mass and Configuration Robotic Systems
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Topics: Design, Robotics, Tracking control, Dynamics (Mechanics), Modeling, Inertia (Mechanics), Control equipment, Equations of motion, Manipulators, Mobile robots