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Journal Articles

A High-Gain Observer Approach to Robust Trajectory Estimation and Tracking for a Multirotor Unmanned Aerial Vehicle

Connor J. Boss, Vaibhav Srivastava
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2025, 147(1): 011005.
Paper No: DS-23-1085
https://doi.org/10.1115/1.4065758
Published Online: August 29, 2024
View Article titled, A High-Gain Observer Approach to Robust Trajectory Estimation and Tracking for a Multirotor Unmanned Aerial Vehicle
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Topics: Actuators, Design, Dynamics (Mechanics), Errors, Feedback, Stability, Trajectories (Physics), Vehicles, Unmanned aerial vehicles, Lyapunov functions
Journal Articles

Optimal Control of Material Microstructures

Aayushman Sharma, Zirui Mao, Haiying Yang, Suman Chakravorty, Michael J. Demkowicz, Dileep Kalathil
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2024, 146(6): 061109.
Paper No: DS-23-1360
https://doi.org/10.1115/1.4065801
Published Online: August 24, 2024
View Article titled, Optimal Control of Material Microstructures
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Topics: Algorithms, Dynamics (Mechanics), Feedback, Optimal control, Optimization, Trajectories (Physics), Noise (Sound), Partial differential equations, Reinforcement learning
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

Reactive Gait Composition With Stability: Dynamic Walking Amidst Static and Moving Obstacles

Kunal Sanjay Narkhede, Mohamad Shafiee Motahar, Sushant Veer, Ioannis Poulakakis
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2024, 146(5): 051001.
Paper No: DS-23-1083
https://doi.org/10.1115/1.4063997
Published Online: May 20, 2024
View Article titled, Reactive Gait Composition With Stability: Dynamic Walking Amidst Static and Moving Obstacles
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Topics: Dynamics (Mechanics), Limit cycles, Robots, Stability, Theorems (Mathematics), Design, Feedback, Path planning, Algorithms, Control equipment
Journal Articles

Using Control Barrier Functions to Incorporate Observability: Application to Range-Based Target Tracking

Demetris Coleman, Shaunak D. Bopardikar, Xiaobo Tan
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2024, 146(4): 041004.
Paper No: DS-23-1193
https://doi.org/10.1115/1.4064749
Published Online: March 21, 2024
View Article titled, Using Control Barrier Functions to Incorporate Observability: Application to Range-Based Target Tracking
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Topics: Control equipment, Errors, Feedback, Simulation, Nonlinear systems, State feedback, Trajectories (Physics)
Journal Articles

High-Gain-Observer-Based Predictive Output Feedback for Nonlinear Systems With Large Input-Delays

Jing Lei
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2024, 146(3): 031003.
Paper No: DS-23-1151
https://doi.org/10.1115/1.4064349
Published Online: January 10, 2024
View Article titled, High-Gain-Observer-Based Predictive Output Feedback for Nonlinear Systems With Large Input-Delays
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Topics: Delays, Feedback, Nonlinear systems, Simulation, Control equipment, Stability, Pendulums
Journal Articles

Synthesizing Negative-Imaginary Systems With Closed-Loop H ∞ -Performance Via Static Output Feedback Control

Pravin Behera, Arnab Dey, Sourav Patra
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2024, 146(3): 031001.
Paper No: DS-23-1084
https://doi.org/10.1115/1.4064175
Published Online: January 8, 2024
View Article titled, Synthesizing Negative-Imaginary Systems With Closed-Loop H ∞ -Performance Via Static Output Feedback Control
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Topics: Algorithms, Control equipment, Design, Feedback, Relaxation (Physics), Optimization, Uncertainty, Closed loop systems
Journal Articles

Flatness-Based Control in Successive Loops for Autonomous Quadrotors

G. Rigatos, M. Abbaszadeh, K. Busawon, L. Dala, J. Pomares, F. Zouari
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. March 2024, 146(2): 024501.
Paper No: DS-23-1096
https://doi.org/10.1115/1.4063907
Published Online: December 6, 2023
View Article titled, Flatness-Based Control in Successive Loops for Autonomous Quadrotors
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Topics: Dynamic models, Dynamics (Mechanics), Feedback, Rotation, Stability, Trajectories (Physics), Unmanned aerial vehicles, Translational motion, Errors, Flight
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
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Topics: Antiresonance, Control equipment, Dampers, Damping, Design, Dynamics (Mechanics), Feedback, Resonance, Stiffness, Mechanical structures
Journal Articles

Linear Quadratic Regulator for Delayed Systems Using the Hamiltonian Approach and Exact Closed-Loop Poles for First-Order Systems

Junaidvali Shaik, C. P. Vyasarayani, Anindya Chatterjee
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2023, 145(7): 071002.
Paper No: DS-22-1149
https://doi.org/10.1115/1.4062439
Published Online: May 25, 2023
View Article titled, Linear Quadratic Regulator for Delayed Systems Using the Hamiltonian Approach and Exact Closed-Loop Poles for First-Order Systems
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Topics: Delay differential equations, Delays, Feedback, Poles (Building), Polynomials, Eigenfunctions, Approximation, Fittings
Journal Articles

Model-Free H ∞ Output Feedback Control of Road Sensing in Vehicle Active Suspension Based on Reinforcement Learning

Gang Wang, Kunpeng Li, Suqi Liu, Hui Jing
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. June 2023, 145(6): 061003.
Paper No: DS-22-1336
https://doi.org/10.1115/1.4062342
Published Online: May 2, 2023
View Article titled, Model-Free H ∞ Output Feedback Control of Road Sensing in Vehicle Active Suspension Based on Reinforcement Learning
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Topics: Algorithms, Feedback, Reinforcement learning, Roads, Suspension systems, Vehicles, Optimal control
Journal Articles

Control of Autonomous Vehicles Via Multistage Linear Feedback Design

Verica Radisavljevic-Gajic
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. April 2023, 145(4): 041004.
Paper No: DS-22-1029
https://doi.org/10.1115/1.4056781
Published Online: February 21, 2023
View Article titled, Control of Autonomous Vehicles Via Multistage Linear Feedback Design
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Topics: Autonomous vehicles, Design, Eigenvalues, Feedback, Vehicles, Control equipment, Algebra
Journal Articles

Balancing a Stick With Eyes Shut: Inverted Pendulum on a Cart Without Angle Measurement

Bidhayak Goswami, Anindya Chatterjee
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. April 2023, 145(4): 044502.
Paper No: DS-22-1168
https://doi.org/10.1115/1.4056702
Published Online: February 8, 2023
View Article titled, Balancing a Stick With Eyes Shut: Inverted Pendulum on a Cart Without Angle Measurement
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Topics: Feedback, Pendulums, Noise (Sound), Control equipment
Journal Articles

Energy-Optimal Unmanned Aerial Vehicles Motion Planning and Control Based on Integrated System Physical Dynamics

Nicolas Michel, Peng Wei, Zhaodan Kong, Xinfan Lin
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. April 2023, 145(4): 041002.
Paper No: DS-22-1142
https://doi.org/10.1115/1.4056534
Published Online: January 13, 2023
View Article titled, Energy-Optimal Unmanned Aerial Vehicles Motion Planning and Control Based on Integrated System Physical Dynamics
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Topics: Batteries, Control equipment, Dynamics (Mechanics), Feedback, Flight, Motors, Rotors, Trajectories (Physics), Unmanned aerial vehicles, Vehicles
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

Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion

Yukai Gong, Jessy W. Grizzle
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2022, 144(12): 121006.
Paper No: DS-22-1154
https://doi.org/10.1115/1.4055770
Published Online: October 17, 2022
View Article titled, Zero Dynamics, Pendulum Models, and Angular Momentum in Feedback Control of Bipedal Locomotion
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Topics: Angular momentum, Center of mass, Control equipment, Dynamics (Mechanics), Pendulums, Robots, Feedback, Stability, Torque
Journal Articles

Position Tracking Constrained Adaptive Output Feedback Control of Robotic Manipulators

Samet Gul, Erkan Zergeroglu, Enver Tatlicioglu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2022, 144(11): 111006.
Paper No: DS-21-1315
https://doi.org/10.1115/1.4055291
Published Online: September 8, 2022
View Article titled, Position Tracking Constrained Adaptive Output Feedback Control of Robotic Manipulators
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Topics: Control equipment, Design, Errors, Feedback, Manipulators, Stability
Journal Articles

Multivariable Robust Proportional-Integral-Derivative Control for Linear Quadratic Compensation of a Class of Norm-Bounded Uncertain Systems

Jatin Kumar Pradhan, Arun Ghosh
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. October 2022, 144(10): 101003.
Paper No: DS-21-1186
https://doi.org/10.1115/1.4054950
Published Online: August 3, 2022
View Article titled, Multivariable Robust Proportional-Integral-Derivative Control for Linear Quadratic Compensation of a Class of Norm-Bounded Uncertain Systems
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Topics: Control equipment, Design, Feedback, Linear matrix inequalities, Uncertain systems, Uncertainty, Approximation, Algorithms
Journal Articles

Saturated Output Feedback Control for Robot Manipulators With Joints of Arbitrary Flexibility

Xin Cheng, Huashan Liu, Zhen Zeng, Wenke Lu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2022, 144(8): 081004.
Paper No: DS-21-1130
https://doi.org/10.1115/1.4054582
Published Online: June 7, 2022
View Article titled, Saturated Output Feedback Control for Robot Manipulators With Joints of Arbitrary Flexibility
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Topics: Control equipment, Errors, Feedback, Manipulators, Pole placement, Stability, Dynamics (Mechanics), Torque
Journal Articles

Positional Accuracy Improvement of an Industrial Robot Using Feedforward Compensation and Feedback Control

Bo Li, Wei Zhang, Yufei Li, Wei Tian, Changrui Wang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2022, 144(7): 071003.
Paper No: DS-21-1246
https://doi.org/10.1115/1.4054312
Published Online: April 22, 2022
View Article titled, Positional Accuracy Improvement of an Industrial Robot Using Feedforward Compensation and Feedback Control
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Topics: Errors, Robots, Feedback, Polynomials, Feedforward control, Robotics