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Journal Articles

In-Situ Calibration of Six-Axis Force/Torque Transducers on a Six-Legged Robot

Ziyou Wu, Shai Revzen
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2025, 147(3): 031003.
Paper No: DS-24-1018
https://doi.org/10.1115/1.4066455
Published Online: September 30, 2024
View Article titled, In-Situ Calibration of Six-Axis Force/Torque Transducers on a Six-Legged Robot
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Topics: Calibration, Errors, Gravity (Force), Robots, Torque, Transducers
Includes: Supplementary data
Journal Articles

Global-Position Tracking Control for Multi-Domain Bipedal Walking With Underactuation

Yuan Gao, Kentaro Barhydt, Christopher Niezrecki, Yan Gu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2025, 147(1): 011003.
Paper No: DS-23-1129
https://doi.org/10.1115/1.4065323
Published Online: August 17, 2024
View Article titled, Global-Position Tracking Control for Multi-Domain Bipedal Walking With Underactuation
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Topics: Control equipment, Design, Dynamics (Mechanics), Errors, Robots, Simulation, Stability, Robot dynamics, Quadratic programming, Motors
Journal Articles

An Approach for Identifying Dynamic Parameters in Robotic Systems With Inconsistent Joint Measurements

Weiliang Zhu, Guoteng Zhang, Xuewen Rong, Yibin Li
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2025, 147(1): 011002.
Paper No: DS-23-1209
https://doi.org/10.1115/1.4065861
Published Online: July 25, 2024
View Article titled, An Approach for Identifying Dynamic Parameters in Robotic Systems With Inconsistent Joint Measurements
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Topics: Algorithms, Errors, Excitation, Optimization, Particle swarm optimization, Robotics, Robots, Torque, Trajectories (Physics), Weight (Mass)
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

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

Gyroscopic Balancer-Enhanced Motion Control of an Autonomous Bikebot

Pengcheng Wang, Feng Han, Jingang Yi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. October 2023, 145(10): 101002.
Paper No: DS-22-1268
https://doi.org/10.1115/1.4063014
Published Online: August 21, 2023
View Article titled, Gyroscopic Balancer-Enhanced Motion Control of an Autonomous Bikebot
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Topics: Control equipment, Design, Dynamics (Mechanics), Equilibrium (Physics), Errors, Trajectories (Physics), Motion control, Torque, Boundary element methods, Stability
Journal Articles

Computationally Efficient Hierarchical Model Predictive Control Via Koopman Operator

Stephen Boyle, Stephanie Stockar
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. April 2023, 145(4): 041003.
Paper No: DS-22-1194
https://doi.org/10.1115/1.4056703
Published Online: February 8, 2023
View Article titled, Computationally Efficient Hierarchical Model Predictive Control Via Koopman Operator
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Topics: Dynamics (Mechanics), Engines, Fuels, Linear systems, Optimization, Torque, Control equipment, Vehicles, Dynamic systems, Approximation
Journal Articles

Model Reference Control-Based Steering Feel Improvement for Electric Power-Assisted Steering System

Yijun Li, Taehyun Shim, Dexin Wang, Timothy Offerle
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. April 2023, 145(4): 044501.
Paper No: DS-21-1344
https://doi.org/10.1115/1.4056532
Published Online: January 9, 2023
View Article titled, Model Reference Control-Based Steering Feel Improvement for Electric Power-Assisted Steering System
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Topics: Control equipment, Friction, Overlays (Materials engineering), Torque, Control systems, Hardware, Power steering
Journal Articles

Rule-Based Time-Optimal Engine-Start Coordination Control With a Predesigned Vehicle Acceleration Trajectory in P2 Hybrid Electric Vehicles

Ziwang Lu, Guangyu Tian, Simona Onori
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. February 2023, 145(2): 021004.
Paper No: DS-22-1072
https://doi.org/10.1115/1.4056154
Published Online: November 17, 2022
View Article titled, Rule-Based Time-Optimal Engine-Start Coordination Control With a Predesigned Vehicle Acceleration Trajectory in P2 Hybrid Electric Vehicles
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Topics: Engines, Motors, Torque, Vehicles, Cylinders, Dynamic models, Locks (Waterways), Trajectories (Physics)
Journal Articles

Mechatronic Model of a Powertrain With Half Toroidal Continuously Variable Transmission

Erick Axel Padilla-García, Héctor Cervantes-Culebro, Omar Mendoza-Trejo
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2023, 145(1): 011003.
Paper No: DS-21-1263
https://doi.org/10.1115/1.4055879
Published Online: October 28, 2022
View Article titled, Mechatronic Model of a Powertrain With Half Toroidal Continuously Variable Transmission
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Topics: Actuators, Control equipment, Dynamics (Mechanics), Engines, Mechatronic devices, Motors, Robots, Stress, Torque, Simulation results
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

Energy-Optimal Impedance Control of Cooperative Robot Manipulators

Amin Ghorbanpour, Hanz Richter
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2022, 144(12): 121002.
Paper No: DS-22-1018
https://doi.org/10.1115/1.4055391
Published Online: September 27, 2022
View Article titled, Energy-Optimal Impedance Control of Cooperative Robot Manipulators
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Topics: Dynamics (Mechanics), Energy budget (Physics), Robots, Manipulators, Control equipment, Trajectories (Physics), Optimization, Energy consumption, Torque
Journal Articles

On Using a Brushless Motor as a Passive Torque-Controllable Brake

Léo G. Vailati, Michael Goldfarb
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2022, 144(9): 091001.
Paper No: DS-21-1103
https://doi.org/10.1115/1.4054733
Published Online: June 28, 2022
View Article titled, On Using a Brushless Motor as a Passive Torque-Controllable Brake
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Topics: Brakes, Engines, Motors, Torque, Cycles
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

A Mixed L 1 / H 2 Robust Observer With An Application To Driver Steering Torque Estimation for Autopilot-Human Shared Steering

Xingyu Zhou, Zejiang Wang, Heran Shen, Junmin Wang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2022, 144(7): 071007.
Paper No: DS-21-1287
https://doi.org/10.1115/1.4054262
Published Online: April 28, 2022
View Article titled, A Mixed L 1 / H 2 Robust Observer With An Application To Driver Steering Torque Estimation for Autopilot-Human Shared Steering
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Topics: Errors, Torque, Wire, Noise (Sound), Sensors, Autopilots, Dynamics (Mechanics)
Journal Articles

Fuzzy-Based Adaptive Higher-Order Sliding Mode Control for Uncertain Steer-by-Wire System

Hongjuan Li, Tianliang Zhang, Ming Tie, Yongfu Wang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. April 2022, 144(4): 041005.
Paper No: DS-21-1202
https://doi.org/10.1115/1.4053185
Published Online: January 25, 2022
View Article titled, Fuzzy-Based Adaptive Higher-Order Sliding Mode Control for Uncertain Steer-by-Wire System
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Topics: Control equipment, Dynamics (Mechanics), Errors, Fuzzy logic, Motors, Signals, Sliding mode control, Torque, Vehicles, Wheels
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

Multi Time-Scale Engine and Powertrain Control for Autonomous Vehicles Via Lagrange Multipliers

Stephen Boyle, Stephanie Stockar
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2022, 144(1): 011103.
Paper No: DS-21-1155
https://doi.org/10.1115/1.4052766
Published Online: November 12, 2021
View Article titled, Multi Time-Scale Engine and Powertrain Control for Autonomous Vehicles Via Lagrange Multipliers
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Topics: Dynamics (Mechanics), Engines, Fuels, Optimization, Torque, Vehicles, Predictive control, Algorithms, Control equipment, Computation
Journal Articles

Analysis of Improving Automatic Transmission Upshift Performance by Using Off-Going Clutch During Inertia Phase

Ivan Cvok, Vanja Ranogajec, Joško Deur, Yijing Zhang, Vladimir Ivanovic, Yuji Fujii
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. February 2022, 144(2): 021005.
Paper No: DS-21-1036
https://doi.org/10.1115/1.4052491
Published Online: October 28, 2021
View Article titled, Analysis of Improving Automatic Transmission Upshift Performance by Using Off-Going Clutch During Inertia Phase
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Topics: Engines, Inertia (Mechanics), Optimization, Torque, Dynamics (Mechanics), Torque converters
Journal Articles

Transient Hybrid Electric Vehicle Powertrain Control Based on Iterative Dynamic Programing

Qilun Zhu, Robert Prucka
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. February 2022, 144(2): 021003.
Paper No: DS-21-1116
https://doi.org/10.1115/1.4052230
Published Online: October 1, 2021
View Article titled, Transient Hybrid Electric Vehicle Powertrain Control Based on Iterative Dynamic Programing
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Topics: Algorithms, Batteries, Cycles, Dynamic programming, Dynamics (Mechanics), Engines, Errors, Fuel efficiency, Gears, Hybrid electric vehicles