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Journal Articles

Data-Driven Tracking Control of a Cushion Robot with Safe Autonomous Motion Considering Human-Machine Interaction Environment

Accepted Manuscript
Ping Sun, Rui Shan, Hongbin Chang, Shuoyu Wang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control.
Paper No: DS-24-1129
https://doi.org/10.1115/1.4067188
Published Online: November 20, 2024
View Article titled, Data-Driven Tracking Control of a Cushion Robot with Safe Autonomous Motion Considering Human-Machine Interaction Environment
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Topics: Machinery, Robots, Tracking control, Safety, Algorithms, Control equipment, Dynamic models, Errors, Navigation, Simulation
Journal Articles

Dynamic Obstacle Avoidance Strategy for High-Speed Vehicles Via Constrained Model Predictive Control and Improved Artificial Potential Field

Accepted Manuscript
Mingyang Xu, Ming Yue, Yao Gu, Jinyong Shangguan, Xudong Zhao
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control.
Paper No: DS-23-1219
https://doi.org/10.1115/1.4067187
Published Online: November 20, 2024
View Article titled, Dynamic Obstacle Avoidance Strategy for High-Speed Vehicles Via Constrained Model Predictive Control and Improved Artificial Potential Field
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Topics: Predictive control, Vehicles, Roads, Stability, Boundary-value problems, Collisions (Physics), Control equipment, Driver safety, Path planning, Quadratic programming
Journal Articles

Trajectory Planning and Tracking Using Decoupled CBF-QPs for Safe Navigation of Quadrotors

Sufyan Hafeez Khan, Azad Ghaffari
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2025, 147(2): 021002.
Paper No: DS-24-1030
https://doi.org/10.1115/1.4065647
Published Online: August 29, 2024
View Article titled, Trajectory Planning and Tracking Using Decoupled CBF-QPs for Safe Navigation of Quadrotors
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Topics: Algorithms, Navigation, Quadratic programming, Safety, Trajectories (Physics), Uncertainty
Journal Articles

Safe Reinforcement Learning-Based Balance Control for Multi-Cylinder Hydraulic Press

Chao Jia, Zijian Song, Lifeng Du, Hongkun Wang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2024, 146(4): 041006.
Paper No: DS-23-1183
https://doi.org/10.1115/1.4064992
Published Online: April 5, 2024
View Article titled, Safe Reinforcement Learning-Based Balance Control for Multi-Cylinder Hydraulic Press
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Topics: Algorithms, Cylinders, Hydraulic presses, Reinforcement learning, Safety, Errors, Stress
Journal Articles

Hierarchical Lateral Planning With Minimum Curvature Peak for Autonomous Vehicles

Zitong Shan, Jian Zhao, Yang Zhao, Linhe Ge, Shouren Zhong, Bing Zhu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2024, 146(4): 041005.
Paper No: DS-23-1103
https://doi.org/10.1115/1.4064991
Published Online: April 2, 2024
View Article titled, Hierarchical Lateral Planning With Minimum Curvature Peak for Autonomous Vehicles
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Topics: Autonomous vehicles, Optimization, Safety, Simulation, Vehicles, Friction
Journal Articles

Self-Optimizing Vapor Compression Cycles Online With Bayesian Optimization Under Local Search Region Constraints

Joel A. Paulson, Farshud Sorourifar, Christopher R. Laughman, Ankush Chakrabarty
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2024, 146(1): 011102.
Paper No: DS-23-1114
https://doi.org/10.1115/1.4064027
Published Online: December 6, 2023
View Article titled, Self-Optimizing Vapor Compression Cycles Online With Bayesian Optimization Under Local Search Region Constraints
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Topics: Optimization, Safety, Compression, Vapors, Algorithms, Cycles
Journal Articles

Impact of Added Passive Compliance on the Performance of Tip-Actuated Flexible Manipulators

Barat S., Sushrut Surve, Rwik Rana, Madhu Vadali, Harish J. Palanthandalam-Madapusi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2023, 145(12): 121003.
Paper No: DS-23-1062
https://doi.org/10.1115/1.4063488
Published Online: October 9, 2023
View Article titled, Impact of Added Passive Compliance on the Performance of Tip-Actuated Flexible Manipulators
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Topics: Actuators, Engines, Flexible manipulators, Frequency response, Manipulators, Motors, Springs, Stability, Stiffness, Torque
Journal Articles

Synthesis of Recursive Control Barrier Functions

Ricardo de Castro, Shuang Feng
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2023, 145(3): 031001.
Paper No: DS-22-1133
https://doi.org/10.1115/1.4056206
Published Online: December 9, 2022
View Article titled, Synthesis of Recursive Control Barrier Functions
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Topics: Design, Optimization, Polynomials, Safety, Vehicles, Algorithms, Shrinkage (Materials), Simulation results
Journal Articles

Phase Portrait Trajectory of a Three Degree-of-Freedom Vehicular Dynamic Model

An-Ding Zhu, Guan-Nan He, Shun-Chang Duan, Wei-Han Li, Xian-Xu ‘Frank’ Bai
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2022, 144(5): 051002.
Paper No: DS-21-1247
https://doi.org/10.1115/1.4053294
Published Online: February 1, 2022
View Article titled, Phase Portrait Trajectory of a Three Degree-of-Freedom Vehicular Dynamic Model
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Topics: Tires, Trajectories (Physics), Vehicles, Yaw, Wheels, Degrees of freedom, Safety, Modeling
Journal Articles

Ecological Adaptive Cruise Control of Plug-In Hybrid Electric Vehicle With Connected Infrastructure and On-Road Experiments

Sangjae Bae, Yeojun Kim, Yongkeun Choi, Jacopo Guanetti, Preet Gill, Francesco Borrelli, Scott J. Moura
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2022, 144(1): 011109.
Paper No: DS-20-1477
https://doi.org/10.1115/1.4053187
Published Online: January 19, 2022
View Article titled, Ecological Adaptive Cruise Control of Plug-In Hybrid Electric Vehicle With Connected Infrastructure and On-Road Experiments
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Topics: Control equipment, Optimization, Roads, Signals, Simulation, Traffic, Vehicles, Safety, Hybrid electric vehicles, Energy efficiency
Journal Articles

Vehicle and Traffic Light Control Through Gradient-Based Coordination and Control Barrier Function Safety Regulation

Manuel Rodriguez, Hosam Fathy
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2022, 144(1): 011104.
Paper No: DS-21-1158
https://doi.org/10.1115/1.4052713
Published Online: November 12, 2021
View Article titled, Vehicle and Traffic Light Control Through Gradient-Based Coordination and Control Barrier Function Safety Regulation
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Topics: Safety, Traffic, Vehicles, Control equipment
Journal Articles

A Probabilistic Approach for Contact Stability and Contact Safety Analysis of Robotic Intracardiac Catheter

Ran Hao, M. Cenk Çavuşoğlu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. September 2021, 143(9): 094502.
Paper No: DS-20-1466
https://doi.org/10.1115/1.4050692
Published Online: May 10, 2021
View Article titled, A Probabilistic Approach for Contact Stability and Contact Safety Analysis of Robotic Intracardiac Catheter
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Topics: Blood flow, Catheters, Robotics, Safety, Stability, Biological tissues
Journal Articles

A Robust Impedance Controller for Improved Safety in Human–Robot Interaction

Curt A. Laubscher, Jerzy T. Sawicki
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2021, 143(9): 091004.
Paper No: DS-20-1460
https://doi.org/10.1115/1.4050504
Published Online: April 15, 2021
View Article titled, A Robust Impedance Controller for Improved Safety in Human–Robot Interaction
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Topics: Boundary layers, Control equipment, Signals, Sliding mode control, Switches, Safety, Human-robot interaction, Chatter
Journal Articles

Contact Stability and Contact Safety of a Magnetic Resonance Imaging-Guided Robotic Catheter Under Heart Surface Motion

Ran Hao, E. Erdem Tuna, M. Cenk Çavuşoğlu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2021, 143(7): 071010.
Paper No: DS-20-1403
https://doi.org/10.1115/1.4049837
Published Online: February 23, 2021
View Article titled, Contact Stability and Contact Safety of a Magnetic Resonance Imaging-Guided Robotic Catheter Under Heart Surface Motion
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Topics: Biological tissues, Catheters, Force control, Robotics, Stability, Safety, Optimization algorithms, Simulation, Magnetic resonance imaging
Journal Articles

Nonlinear Vehicle Dynamics and Trailer Steering Control of the TowPlow, a Steerable Articulated Snowplowing Vehicle System

Jae Young Kang, George Burkett, Jr., Duane Bennett, Steven A. Velinsky
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2015, 137(8): 081005.
Paper No: DS-14-1229
https://doi.org/10.1115/1.4029527
Published Online: August 1, 2015
View Article titled, Nonlinear Vehicle Dynamics and Trailer Steering Control of the TowPlow, a Steerable Articulated Snowplowing Vehicle System
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Topics: Braking, Friction, Roads, Simulation, Simulation results, Steady state, Stress, Tires, Transients (Dynamics), Vehicle dynamics
Journal Articles

Trading Safety Versus Performance: Rapid Deployment of Robotic Swarms With Robust Performance Constraints

Yin-Lam Chow, Marco Pavone, Brian M. Sadler, Stefano Carpin
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2015, 137(3): 031005.
Paper No: DS-14-1057
https://doi.org/10.1115/1.4028117
Published Online: October 21, 2014
View Article titled, Trading Safety Versus Performance: Rapid Deployment of Robotic Swarms With Robust Performance Constraints
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Topics: Algorithms, Optimization, Probability, Robotics, Robots, Safety, Transients (Dynamics), Uncertainty, Failure
Journal Articles

Safe Control of Hopping in Uneven Terrain

Brian Howley, Mark Cutkosky
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. January 2009, 131(1): 011012.
https://doi.org/10.1115/1.3023133
Published Online: December 8, 2008
View Article titled, Safe Control of Hopping in Uneven Terrain
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Topics: Compression, Dynamics (Mechanics), Feedback, Robots, Safety, Stairs, Thrust, Algorithms, Damping, Steady state
Journal Articles

Cooperative Avoidance Control for Multiagent Systems

Dušan M. Stipanović, Peter F. Hokayem, Ph.D. Student, Mark W. Spong, Dragoslav D. Šiljak
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. September 2007, 129(5): 699–707.
https://doi.org/10.1115/1.2764510
Published Online: April 27, 2007
View Article titled, Cooperative Avoidance Control for Multiagent Systems
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Topics: Collisions (Physics), Dynamics (Mechanics), Equilibrium (Physics), Multi-agent systems, Optimal control, Safety, Design, Kinematics
Journal Articles

Differential Geometric Path Planning of Multiple UAVs

Madhavan Shanmugavel, Antonios Tsourdos, Brian A. White, Rafaeł Żbikowski
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. September 2007, 129(5): 620–632.
https://doi.org/10.1115/1.2767657
Published Online: January 16, 2007
View Article titled, Differential Geometric Path Planning of Multiple UAVs
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Topics: Path planning, Unmanned aerial vehicles, Safety, Design
Journal Articles

Sub-Optimal Longitudinal Control of Road Vehicles With Capacity and Safety Considerations

J. Sainte-Marie, S. Mammar, L. Nouvelie`re, V. Rouault
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. March 2004, 126(1): 26–35.
https://doi.org/10.1115/1.1648309
Published Online: April 12, 2004
View Article titled, Sub-Optimal Longitudinal Control of Road Vehicles With Capacity and Safety Considerations
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Topics: Safety, Vehicles, Stability, Motor vehicles, Braking, Simulation