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Journal Articles

Inferring Human Control Intent Using Inverse Linear Quadratic Regulator With Output Penalty Versus Gain Penalty: Better Fit but Similar Intent

Heejin Yu, Ahmed Ramadan, Jacek Cholewicki, John M. Popovich, Jr., N. Peter Reeves, Joshua (Sung) H. You, Jongeun Choi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2024, 146(6): 061103.
Paper No: DS-23-1255
https://doi.org/10.1115/1.4065593
Published Online: July 16, 2024
View Article titled, Inferring Human Control Intent Using Inverse Linear Quadratic Regulator With Output Penalty Versus Gain Penalty: Better Fit but Similar Intent
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Topics: Control equipment, Errors, Feedback, Goodness-of-fit tests, Human-robot interaction, Motor controls, Optimal control, Optimization, Performance, Robotics
Includes: Supplementary data
Journal Articles

An Energy-Based Framework for Robust Dynamic Bipedal Walking Over Compliant Terrain

Chrysostomos Karakasis, Ioannis Poulakakis, Panagiotis Artemiadis
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2024, 146(2): 021008.
Paper No: DS-23-1181
https://doi.org/10.1115/1.4064094
Published Online: December 11, 2023
View Article titled, An Energy-Based Framework for Robust Dynamic Bipedal Walking Over Compliant Terrain
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Topics: Control equipment, Stiffness, Biomimetics, Springs
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

Shaping the Dynamics of a Low-Stiffness Positioning System by Mechatronic Design for Enabling Stable Unity Gain Feedback

Ernst Csencsics, Benjamin Friedl, Georg Schitter
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. October 2023, 145(10): 101001.
Paper No: DS-23-1047
https://doi.org/10.1115/1.4063074
Published Online: August 17, 2023
View Article titled, Shaping the Dynamics of a Low-Stiffness Positioning System by Mechatronic Design for Enabling Stable Unity Gain Feedback
Open the PDF for Shaping the Dynamics of a Low-Stiffness Positioning System by Mechatronic Design for Enabling Stable Unity Gain Feedback in another window
Topics: Antiresonance, Control equipment, Dampers, Damping, Design, Dynamics (Mechanics), Feedback, Resonance, Stiffness, Mechanical structures
Journal Articles

Robust Static Output Feedback With Dynamic Disturbance Feed-Forward for Lateral Control of Long-Combination Vehicles at High Speeds

Maliheh Sadeghi Kati, Hakan Köroğlu, Jonas Fredriksson, Mohammad Manjurul Islam
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2023, 145(3): 031004.
Paper No: DS-21-1175
https://doi.org/10.1115/1.4056441
Published Online: January 9, 2023
View Article titled, Robust Static Output Feedback With Dynamic Disturbance Feed-Forward for Lateral Control of Long-Combination Vehicles at High Speeds
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Topics: Control equipment, Design, Feedback, Feedforward control, Filters, Vehicles, Yaw, Uncertainty, Stiffness
Journal Articles

Vehicle Tire Traction Torque Estimation Using a Dual Extended Kalman Filter

Wenpeng Wei, Hussein Dourra, Guoming Zhu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2022, 144(3): 031004.
Paper No: DS-21-1222
https://doi.org/10.1115/1.4052820
Published Online: December 1, 2021
View Article titled, Vehicle Tire Traction Torque Estimation Using a Dual Extended Kalman Filter
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Topics: Algorithms, Tires, Torque, Traction, Vehicles, Kalman filters, Stiffness
Journal Articles

The Design and Control of a Rigid-Flexible Coupling Positioning Stage for Enhanced Settling Performance

Hao Peng, Zhijun Yang, Wenchao Xue, Ruirui Huang, Yi Huang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2021, 143(11): 111003.
Paper No: DS-20-1351
https://doi.org/10.1115/1.4051295
Published Online: July 2, 2021
View Article titled, The Design and Control of a Rigid-Flexible Coupling Positioning Stage for Enhanced Settling Performance
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Topics: Bending (Stress), Design, Design engineering, Errors, Friction, Hinges, Stiffness, Deformation, Manufacturing
Journal Articles

Damping Characteristics of Fluidic Pressure-Fed Mechanism for Positioning Applications

Heebum Chun, Jungsub Kim, Hyo-Young Kim, ChaBum Lee
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2021, 143(11): 111001.
Paper No: DS-20-1413
https://doi.org/10.1115/1.4051294
Published Online: June 28, 2021
View Article titled, Damping Characteristics of Fluidic Pressure-Fed Mechanism for Positioning Applications
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Topics: Damping, Pressure, Dynamic systems, Vibration, Fluids, Water, Stiffness
Journal Articles

Vibration Control of Flexible Joint Robots Using a Discrete-Time Two-Stage Controller Based on Time-Varying Input Shaping and Delay Compensation

Minh-Nha Pham, Bruce Hazel, Philippe Hamelin, Zhaoheng Liu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. October 2021, 143(10): 101001.
Paper No: DS-20-1355
https://doi.org/10.1115/1.4050885
Published Online: May 13, 2021
View Article titled, Vibration Control of Flexible Joint Robots Using a Discrete-Time Two-Stage Controller Based on Time-Varying Input Shaping and Delay Compensation
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Topics: Control equipment, Delays, Dynamics (Mechanics), Feedback, Feedforward control, Robots, Vibration, Transfer functions, Stiffness, Engines
Journal Articles

Measurement and Evaluation of the Stiffness Characteristics of Precision Spring Tubes in Hydraulic Servovalves

Fuli Zhang, Zhaohui Yuan
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2021, 143(9): 091005.
Paper No: DS-20-1148
https://doi.org/10.1115/1.4050573
Published Online: April 21, 2021
View Article titled, Measurement and Evaluation of the Stiffness Characteristics of Precision Spring Tubes in Hydraulic Servovalves
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Topics: Springs, Stiffness
Journal Articles

Transverse Vibration of Geared-Rotor Integrated With Active Magnetic Bearings in Identification of Multiple Faults

Gargi Majumder, Rajiv Tiwari
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2021, 143(9): 091003.
Paper No: DS-20-1353
https://doi.org/10.1115/1.4050506
Published Online: April 15, 2021
View Article titled, Transverse Vibration of Geared-Rotor Integrated With Active Magnetic Bearings in Identification of Multiple Faults
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Topics: Errors, Gears, Magnetic bearings, Rotors, Vibration, Algorithms, Displacement, Damping, Noise (Sound), Modeling
Journal Articles

Theoretical Control-Centric Modeling for Precision Model-Based Sliding Mode Control of a Hydraulic Artificial Muscle Actuator

Jonathon E. Slightam, Mark L. Nagurka
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2021, 143(5): 051010.
Paper No: DS-20-1123
https://doi.org/10.1115/1.4049565
Published Online: February 8, 2021
View Article titled, Theoretical Control-Centric Modeling for Precision Model-Based Sliding Mode Control of a Hydraulic Artificial Muscle Actuator
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Topics: Actuators, Braid (Textile), Control equipment, Dynamics (Mechanics), Muscle, Pressure, Sliding mode control, Stiffness, Errors, Modeling
Journal Articles

Input Shaping for Feed-Forward Control of Cable-Driven Parallel Robots

Sana Baklouti, Eric Courteille, Philippe Lemoine, Stéphane Caro
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. February 2021, 143(2): 021007.
Paper No: DS-19-1389
https://doi.org/10.1115/1.4048354
Published Online: October 12, 2020
View Article titled, Input Shaping for Feed-Forward Control of Cable-Driven Parallel Robots
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Topics: Cables, Feedforward control, Robots, Trajectories (Physics), Vibration, Errors, Filters, Stiffness, Modeling
Journal Articles

Modeling, Analysis, and Identification of Parallel and Angular Misalignments in a Coupled Rotor-Bearing-Active Magnetic Bearing System

Siva Srinivas R., Rajiv Tiwari, Ch Kanna Babu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2021, 143(1): 011007.
Paper No: DS-19-1160
https://doi.org/10.1115/1.4048352
Published Online: October 1, 2020
View Article titled, Modeling, Analysis, and Identification of Parallel and Angular Misalignments in a Coupled Rotor-Bearing-Active Magnetic Bearing System
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Topics: Bearings, Disks, Magnetic bearings, Rotors, Stiffness, Modeling, Vibration, Algorithms
Journal Articles

Distributed Actuation and Control of a Morphing Tensegrity Structure

Guanyu Lai, Andrew Plummer, David Cleaver
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2020, 142(7): 071006.
Paper No: DS-18-1529
https://doi.org/10.1115/1.4046401
Published Online: March 18, 2020
View Article titled, Distributed Actuation and Control of a Morphing Tensegrity Structure
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Topics: Actuators, Stiffness, Tensegrity structures, Stability, Shapes, Control equipment, Tensegrity
Journal Articles

Theoretical Dynamic Modeling and Validation of Braided Pneumatic Artificial Muscles

Jonathon E. Slightam, Mark L. Nagurka
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2020, 142(3): 031008.
Paper No: DS-19-1329
https://doi.org/10.1115/1.4045475
Published Online: December 23, 2019
View Article titled, Theoretical Dynamic Modeling and Validation of Braided Pneumatic Artificial Muscles
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Topics: Accelerator mass spectrometry, Actuators, Braid (Textile), Damping, Displacement, Dynamic modeling, Dynamics (Mechanics), Friction, Modeling, Muscle
Journal Articles

Control of Adaptive Switching in the Sensing-Executing Mode Used to Mitigate Collision in Robot Force Control

Hongli Cao, Ye He, Xiaoan Chen, Zhi Liu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2019, 141(11): 111003.
Paper No: DS-19-1103
https://doi.org/10.1115/1.4043917
Published Online: June 27, 2019
View Article titled, Control of Adaptive Switching in the Sensing-Executing Mode Used to Mitigate Collision in Robot Force Control
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Topics: Collisions (Physics), Force control, Hybrid control, Mechanical admittance, Robots, Signals, Stiffness, Circuits, Design, Simulation
Journal Articles

In-Plane Flexible Beam on Elastic Foundation With Combined Sidewall Stiffness Tire Model for Heavy-Loaded Off-Road Tire

Zhihao Liu, Qinhe Gao, Hailong Niu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. June 2019, 141(6): 061006.
Paper No: DS-17-1623
https://doi.org/10.1115/1.4042546
Published Online: February 21, 2019
View Article titled, In-Plane Flexible Beam on Elastic Foundation With Combined Sidewall Stiffness Tire Model for Heavy-Loaded Off-Road Tire
Open the PDF for In-Plane Flexible Beam on Elastic Foundation With Combined Sidewall Stiffness Tire Model for Heavy-Loaded Off-Road Tire in another window
Topics: Roads, Stiffness, Tires, Pressure, Deformation, Vibration, Materials properties, Modeling, Resonance
Journal Articles

Identification of Speed-Dependent Active Magnetic Bearing Parameters and Rotor Balancing in High-Speed Rotor Systems

Vikas Prasad, Rajiv Tiwari
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. April 2019, 141(4): 041013.
Paper No: DS-17-1315
https://doi.org/10.1115/1.4042026
Published Online: January 7, 2019
View Article titled, Identification of Speed-Dependent Active Magnetic Bearing Parameters and Rotor Balancing in High-Speed Rotor Systems
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Topics: Algorithms, Displacement, Magnetic bearings, Rotors, Stiffness, Modeling, Errors, Disks, Noise (Sound), Computer simulation
Journal Articles

A Fixed Structure Gain Selection Strategy for High Impedance Series Elastic Actuator Behavior

Kenan Isik, Gray Cortright Thomas, Luis Sentis
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. February 2019, 141(2): 021009.
Paper No: DS-18-1061
https://doi.org/10.1115/1.4041449
Published Online: October 10, 2018
View Article titled, A Fixed Structure Gain Selection Strategy for High Impedance Series Elastic Actuator Behavior
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Topics: Actuators, Control equipment, Delays, Feedback, Filtration, Seas, Filters, Stiffness, Transfer functions