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Journal Articles

Real-Time Trajectory Planning for Automated Vehicle Safety and Performance in Dynamic Environments

Huckleberry Febbo, Paramsothy Jayakumar, Jeffrey L. Stein, Tulga Ersal
Journal: Journal of Autonomous Vehicles and Systems
Publisher: ASME
Article Type: Research Papers
J. Auton. Veh. Sys. October 2021, 1(4): 041001.
Paper No: JAVS-21-1020
https://doi.org/10.1115/1.4053243
Published Online: December 30, 2021
View Article titled, Real-Time Trajectory Planning for Automated Vehicle Safety and Performance in Dynamic Environments
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Topics: Safety, Trajectories (Physics), Vehicles, Autonomous vehicles
Journal Articles

Data-Driven Forgetting and Discount Factors for Vehicle Speed Forecasting in Ecological Adaptive Cruise Control

Eunjeong Hyeon, Youngki Kim, Tulga Ersal, Anna Stefanopoulou
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. January 2022, 144(1): 011101.
Paper No: DS-21-1144
https://doi.org/10.1115/1.4052272
Published Online: September 27, 2021
View Article titled, Data-Driven Forgetting and Discount Factors for Vehicle Speed Forecasting in Ecological Adaptive Cruise Control
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Topics: Vehicles, Traffic
Proceedings Papers

Combined Trajectory Planning and Tracking for Autonomous Vehicles on Deformable Terrains

James Dallas, Yifan Weng, Tulga Ersal
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, V001T15A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3174
https://doi.org/10.1115/DSCC2020-3174
View Paper titled, Combined Trajectory Planning and Tracking for Autonomous Vehicles on Deformable Terrains
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Topics: Autonomous vehicles, Trajectories (Physics), Control equipment, Artificial neural networks, Vehicles, Roads, Computation, Engineering simulation, Failure, Military vehicles
Journal Articles

Optimality of Norm-Optimal Iterative Learning Control Among Linear Time Invariant Iterative Learning Control Laws in Terms of Balancing Robustness and Performance

Xinyi Ge, Jeffrey L. Stein, Tulga Ersal
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. April 2019, 141(4): 044502.
Paper No: DS-17-1555
https://doi.org/10.1115/1.4042091
Published Online: December 19, 2018
View Article titled, Optimality of Norm-Optimal Iterative Learning Control Among Linear Time Invariant Iterative Learning Control Laws in Terms of Balancing Robustness and Performance
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Topics: Errors, Filters, Iterative learning control, Robustness, Steady state, Uncertainty
Proceedings Papers

A Real-Time Pseudo-2D Bi-Domain Model of PEM Fuel Cells for Automotive Applications

Alireza Goshtasbi, Benjamin L. Pence, Tulga Ersal
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, V001T25A001, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5053
https://doi.org/10.1115/DSCC2017-5053
View Paper titled, A Real-Time Pseudo-2D Bi-Domain Model of PEM Fuel Cells for Automotive Applications
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Topics: Automotive industry, Proton exchange membrane fuel cells, Catalysts, Modeling, Fuel cells, Proton exchange membranes, Durability, Engineering simulation, Membranes, Oxygen
Proceedings Papers

A Driver Model for Predicting Human Steering Performance in Teleoperated Path Following of Unmanned Ground Vehicles

Hossein Mirinejad, Paramsothy Jayakumar, Tulga Ersal
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, V002T21A001, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5086
https://doi.org/10.1115/DSCC2017-5086
View Paper titled, A Driver Model for Predicting Human Steering Performance in Teleoperated Path Following of Unmanned Ground Vehicles
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Topics: Vehicles, Curve negotiation, Delays, Highways, Mechanical admittance, Simulation
Proceedings Papers

A Communication-Free Decentralized Power Control Approach for Power Loss Minimization in Islanded Microgrids Using Extremum Seeking

Su-Yang Shieh, Tulga Ersal, Huei Peng
Proc. ASME. DSCC2017, Volume 3: Vibration in Mechanical Systems; Modeling and Validation; Dynamic Systems and Control Education; Vibrations and Control of Systems; Modeling and Estimation for Vehicle Safety and Integrity; Modeling and Control of IC Engines and Aftertreatment Systems; Unmanned Aerial Vehicles (UAVs) and Their Applications; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Control of Smart Buildings and Microgrids; Energy Systems, V003T42A004, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5362
https://doi.org/10.1115/DSCC2017-5362
View Paper titled, A Communication-Free Decentralized Power Control Approach for Power Loss Minimization in Islanded Microgrids Using Extremum Seeking
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Topics: Microgrids, Computer simulation, Distributed power generation, Equilibrium (Physics), Optimization
Journal Articles

A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error

Xinyi Ge, Jeffrey L. Stein, Tulga Ersal
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. February 2018, 140(2): 021004.
Paper No: DS-17-1032
https://doi.org/10.1115/1.4037271
Published Online: September 20, 2017
View Article titled, A Frequency-Dependent Filter Design Approach for Norm-Optimal Iterative Learning Control and Its Fundamental Trade-Off Between Robustness, Convergence Speed, and Steady-State Error
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Topics: Design, Errors, Filters, Iterative learning control, Robustness, Steady state, Tradeoffs, Uncertainty
Journal Articles

Battery State of Health Monitoring by Estimation of Side Reaction Current Density Via Retrospective-Cost Subsystem Identification

Xin Zhou, Dennis S. Bernstein, Jeffrey L. Stein, Tulga Ersal
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2017, 139(9): 091007.
Paper No: DS-16-1163
https://doi.org/10.1115/1.4036030
Published Online: June 5, 2017
View Article titled, Battery State of Health Monitoring by Estimation of Side Reaction Current Density Via Retrospective-Cost Subsystem Identification
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Topics: Batteries, Current density, Errors, Robustness, Modeling, Algorithms
Proceedings Papers

Battery State of Health Monitoring by Estimation of the Number of Cyclable Li-Ions

Xin Zhou, Jeffrey L. Stein, Tulga Ersal
Proc. ASME. DSCC2016, Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation, V001T08A001, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9730
https://doi.org/10.1115/DSCC2016-9730
View Paper titled, Battery State of Health Monitoring by Estimation of the Number of Cyclable Li-Ions
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Topics: Batteries, Ions, Algorithms, Electric vehicles, Engineering simulation, Errors, Simulation, Cities, Cycles, Dynamometers
Proceedings Papers

Optimization Based Weighting Matrices Design for Norm Optimal Iterative Learning Control

Xinyi Ge, Jeffrey L. Stein, Tulga Ersal
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, V002T28A002, October 12–14, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2016-9758
https://doi.org/10.1115/DSCC2016-9758
View Paper titled, Optimization Based Weighting Matrices Design for Norm Optimal Iterative Learning Control
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Topics: Design, Iterative learning control, Optimization, Errors, Steady state, Uncertainty, Modeling, Robustness, Simulation
Proceedings Papers

A Combined Plant/Controller Optimization Framework for Hybrid Vehicles With MPG, Emissions and Drivability Considerations

Huckleberry Febbo, Tulga Ersal, Jeffrey L. Stein
Proc. ASME. IDETC-CIE2016, Volume 3: 18th International Conference on Advanced Vehicle Technologies; 13th International Conference on Design Education; 9th Frontiers in Biomedical Devices, V003T01A036, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-60335
https://doi.org/10.1115/DETC2016-60335
View Paper titled, A Combined Plant/Controller Optimization Framework for Hybrid Vehicles With MPG, Emissions and Drivability Considerations
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Topics: Control equipment, Emissions, Hybrid electric vehicles, Optimization, Design, Cycles, Tradeoffs, Corporate average fuel economy, Dynamic programming, Fuel consumption
Proceedings Papers

An MPC Algorithm With Combined Speed and Steering Control for Obstacle Avoidance in Autonomous Ground Vehicles

Jiechao Liu, Paramsothy Jayakumar, Jeffrey L. Stein, Tulga Ersal
Proc. ASME. DSCC2015, Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems, V003T44A003, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9747
https://doi.org/10.1115/DSCC2015-9747
View Paper titled, An MPC Algorithm With Combined Speed and Steering Control for Obstacle Avoidance in Autonomous Ground Vehicles
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Topics: Algorithms, Vehicles, Optimization, Navigation, Optimal control, Predictive control, Sensors, Simulation results, Stability, Tires
Proceedings Papers

A Multi-Stage Optimization Formulation for MPC-Based Obstacle Avoidance in Autonomous Vehicles Using a LIDAR Sensor

Jiechao Liu, Paramsothy Jayakumar, Jeffrey L. Stein, Tulga Ersal
Proc. ASME. DSCC2014, Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing, V002T30A006, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6269
https://doi.org/10.1115/DSCC2014-6269
View Paper titled, A Multi-Stage Optimization Formulation for MPC-Based Obstacle Avoidance in Autonomous Vehicles Using a LIDAR Sensor
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Topics: Optimization, Sensors, Vehicles, Safety, Algorithms, Delays, Nonlinear programming, Optimal control, Dynamics (Mechanics), Predictive control
Proceedings Papers

Battery State of Health Monitoring by Side Reaction Current Density Estimation via Retrospective-Cost Subsystem Identification

Xin Zhou, Tulga Ersal, Jeffrey L. Stein, Dennis S. Bernstein
Proc. ASME. DSCC2014, Volume 1: Active Control of Aerospace Structure; Motion Control; Aerospace Control; Assistive Robotic Systems; Bio-Inspired Systems; Biomedical/Bioengineering Applications; Building Energy Systems; Condition Based Monitoring; Control Design for Drilling Automation; Control of Ground Vehicles, Manipulators, Mechatronic Systems; Controls for Manufacturing; Distributed Control; Dynamic Modeling for Vehicle Systems; Dynamics and Control of Mobile and Locomotion Robots; Electrochemical Energy Systems, V001T19A002, October 22–24, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2014-6254
https://doi.org/10.1115/DSCC2014-6254
View Paper titled, Battery State of Health Monitoring by Side Reaction Current Density Estimation via Retrospective-Cost Subsystem Identification
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Topics: Batteries, Current density, Cycles, Algorithms, Cities, Dynamometers, Electric vehicles, Engineering simulation, Excitation, Signals
Journal Articles

An Iterative Learning Control Approach to Improving Fidelity in Internet-Distributed Hardware-in-the-Loop Simulation

Tulga Ersal, Mark Brudnak, Ashwin Salvi, Youngki Kim, Jason B. Siegel, Jeffrey L. Stein
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2014, 136(6): 061012.
Paper No: DS-13-1276
https://doi.org/10.1115/1.4027868
Published Online: August 8, 2014
View Article titled, An Iterative Learning Control Approach to Improving Fidelity in Internet-Distributed Hardware-in-the-Loop Simulation
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Topics: Engines, Internet, Iterative learning control, Simulation, Batteries, Generators, Hardware, Errors
Journal Articles

Keeping Ground Robots on the Move Through Battery & Mission Management

Tulga Ersal, Youngki Kim, John Broderick, Tianyou Guo, Amir Sadrpour, Anna Stefanopoulou, Jason Siegel, Dawn Tilbury, Ella Atkins, Huei Peng, Jionghua (Judy) Jin, A. Galip Ulsoy
Journal: Mechanical Engineering
Publisher: ASME
Article Type: Select Article
Mechanical Engineering. June 2014, 136(06): S1–S6.
Paper No: ME-14-JUN4
https://doi.org/10.1115/6.2014-Jun-4
Published Online: June 1, 2014
View Article titled, Keeping Ground Robots on the Move Through Battery & Mission Management
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Topics: Batteries, Robots
Proceedings Papers

The Role of Model Fidelity in Model Predictive Control Based Hazard Avoidance in Unmanned Ground Vehicles Using LIDAR Sensors

Jiechao Liu, Paramsothy Jayakumar, James L. Overholt, Jeffrey L. Stein, Tulga Ersal
Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T46A005, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-4021
https://doi.org/10.1115/DSCC2013-4021
View Paper titled, The Role of Model Fidelity in Model Predictive Control Based Hazard Avoidance in Unmanned Ground Vehicles Using LIDAR Sensors
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Topics: Hazards, Predictive control, Sensors, Vehicles, Algorithms, Robots, Vehicle dynamics, Degrees of freedom, Dynamics (Mechanics), Military systems
Proceedings Papers

Battery Health Diagnostics Using Retrospective-Cost Subsystem Identification: Sensitivity to Noise and Initialization Errors

Xin Zhou, Tulga Ersal, Jeffrey L. Stein, Dennis S. Bernstein
Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T42A004, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3953
https://doi.org/10.1115/DSCC2013-3953
View Paper titled, Battery Health Diagnostics Using Retrospective-Cost Subsystem Identification: Sensitivity to Noise and Initialization Errors
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Topics: Batteries, Errors, Noise (Sound), Cycles, Dynamics (Mechanics), Solid electrolytes, Electrochemistry, Hardware, Lithium, Lithium-ion batteries
Proceedings Papers

An Observer Based Framework to Improve Fidelity in Internet-Distributed Hardware-in-the-Loop Simulations

Akshar Tandon, Mark J. Brudnak, Jeffrey L. Stein, Tulga Ersal
Proc. ASME. DSCC2013, Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems, V002T21A004, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-3878
https://doi.org/10.1115/DSCC2013-3878
View Paper titled, An Observer Based Framework to Improve Fidelity in Internet-Distributed Hardware-in-the-Loop Simulations
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Topics: Hardware, Internet, Simulation, Delays, Stability, Dampers, Dynamics (Mechanics), Engines, Errors, Springs