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Proceedings Papers

Formation Control of Non-Holonomic Mobile Robots Moving on Slippery Surfaces

Violet Mwaffo, Pietro De Lellis, Sean Humbert
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T30A002, October 5–7, 2020
Paper No: DSCC2020-3162
https://doi.org/10.1115/DSCC2020-3162
View Paper titled, Formation Control of Non-Holonomic Mobile Robots Moving on Slippery Surfaces
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Topics: Computer simulation, Design, Dynamics (Mechanics), Gravel, Kinematics, Mobile robots, Noise (Sound), Roads, Robotics, Robots
Proceedings Papers

Formation Control for Underactuated Surface Vessel Networks

Bo Wang, Sergey Nersesov, Hashem Ashrafiuon
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T30A003, October 5–7, 2020
Paper No: DSCC2020-3178
https://doi.org/10.1115/DSCC2020-3178
View Paper titled, Formation Control for Underactuated Surface Vessel Networks
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Topics: Vessels, Errors, Actuators, Dynamic models, Dynamics (Mechanics), Algebra, Cascades (Fluid dynamics), Closed loop systems, Control algorithms, Degrees of freedom
Proceedings Papers

Interaction-Aware Behavior Planning for Autonomous Vehicles Validated With Real Traffic Data

Jinning Li, Liting Sun, Wei Zhan, Masayoshi Tomizuka
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T31A005, October 5–7, 2020
Paper No: DSCC2020-3328
https://doi.org/10.1115/DSCC2020-3328
View Paper titled, Interaction-Aware Behavior Planning for Autonomous Vehicles Validated With Real Traffic Data
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Topics: Autonomous vehicles, Traffic, Algorithms, Collisions (Physics), Engineering simulation, Finishes, Simulation, Uncertainty
Proceedings Papers

Two-Stage Robust Tracking Controller for Linear Systems With Known Uncertainty Using Filtered Basis Functions

Keval S. Ramani, Chinedum E. Okwudire
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T35A001, October 5–7, 2020
Paper No: DSCC2020-3207
https://doi.org/10.1115/DSCC2020-3207
View Paper titled, Two-Stage Robust Tracking Controller for Linear Systems With Known Uncertainty Using Filtered Basis Functions
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Topics: Control equipment, Linear systems, Uncertainty, Dynamics (Mechanics), Errors, Filtration, Tracking control
Proceedings Papers

Optimal Data-Driven Modeling-Free Differential-Inversion-Based Iterative Control: A Wafer Stage Example

Zezhou Zhang, Qingze Zou
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T35A002, October 5–7, 2020
Paper No: DSCC2020-3281
https://doi.org/10.1115/DSCC2020-3281
View Paper titled, Optimal Data-Driven Modeling-Free Differential-Inversion-Based Iterative Control: A Wafer Stage Example
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Topics: Modeling, Semiconductor wafers, Dynamics (Mechanics), Random noise, Robustness, System dynamics, Uncertainty
Proceedings Papers

Uncertainty and Disturbance Estimator-Based Robust Region Tracking Control for Multiple Quadrotors

Qi Lu, Beibei Ren, Yuan-dong Ji
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T36A009, October 5–7, 2020
Paper No: DSCC2020-3308
https://doi.org/10.1115/DSCC2020-3308
View Paper titled, Uncertainty and Disturbance Estimator-Based Robust Region Tracking Control for Multiple Quadrotors
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Topics: Tracking control, Uncertainty, Trajectories (Physics), Collisions (Physics), Control equipment, Degrees of freedom, Dynamics (Mechanics), Simulation
Proceedings Papers

Physics Based Multi-Fidelity Data Fusion for Efficient Characterization of Mode Shape Variation Under Uncertainties

K. Zhou, J. Tang
Proc. ASME. DSCC2020, Volume 2: Intelligent Transportation/Vehicles; Manufacturing; Mechatronics; Engine/After-Treatment Systems; Soft Actuators/Manipulators; Modeling/Validation; Motion/Vibration Control Applications; Multi-Agent/Networked Systems; Path Planning/Motion Control; Renewable/Smart Energy Systems; Security/Privacy of Cyber-Physical Systems; Sensors/Actuators; Tracking Control Systems; Unmanned Ground/Aerial Vehicles; Vehicle Dynamics, Estimation, Control; Vibration/Control Systems; Vibrations, V002T39A002, October 5–7, 2020
Paper No: DSCC2020-3199
https://doi.org/10.1115/DSCC2020-3199
View Paper titled, Physics Based Multi-Fidelity Data Fusion for Efficient Characterization of Mode Shape Variation Under Uncertainties
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Topics: Data fusion, Mode shapes, Physics, Uncertainty
Proceedings Papers

Further Results on Performance Guarantees in Adaptive Control of Uncertain Systems With Unmodeled Dynamics

K. Merve Dogan, Tansel Yucelen, Jonathan A. Muse
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, V001T01A001, October 5–7, 2020
Paper No: DSCC2020-3111
https://doi.org/10.1115/DSCC2020-3111
View Paper titled, Further Results on Performance Guarantees in Adaptive Control of Uncertain Systems With Unmodeled Dynamics
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Topics: Adaptive control, Dynamics (Mechanics), Uncertain systems, Stability, Uncertainty, Aerospace systems, Air Force, Closed loop systems, Linear matrix inequalities, Theorems (Mathematics)
Proceedings Papers

Position and Attitude Control of Underactuated Drones Using the Adaptive Function Approximation Technique

Azin Shamshirgaran, Donald Ebeigbe, Dan Simon
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, V001T01A004, October 5–7, 2020
Paper No: DSCC2020-3211
https://doi.org/10.1115/DSCC2020-3211
View Paper titled, Position and Attitude Control of Underactuated Drones Using the Adaptive Function Approximation Technique
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Topics: Function approximation, Unmanned aerial vehicles, Signals, Control equipment, Closed loop systems, Control algorithms, Design, Design methodology, Feedback, Kalman filters
Proceedings Papers

Error Dynamics Design via a Repetitive Loop for UDE-Based Robust Control to Reject Periodic Disturbances

Yeqin Wang, Yiting Dong, Jiguo Dai, Beibei Ren, Qing-Chang Zhong
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, V001T03A002, October 5–7, 2020
Paper No: DSCC2020-3221
https://doi.org/10.1115/DSCC2020-3221
View Paper titled, Error Dynamics Design via a Repetitive Loop for UDE-Based Robust Control to Reject Periodic Disturbances
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Topics: Design, Dynamics (Mechanics), Errors, Robust control, Uncertainty
Proceedings Papers

Benchmarking Fuel Economy of Connected and Automated Vehicles in Real World Driving Conditions via Monte Carlo Simulation

Shreshta Rajakumar Deshpande, Shobhit Gupta, Dennis Kibalama, Nicola Pivaro, Marcello Canova
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, V001T10A004, October 5–7, 2020
Paper No: DSCC2020-3250
https://doi.org/10.1115/DSCC2020-3250
View Paper titled, Benchmarking Fuel Economy of Connected and Automated Vehicles in Real World Driving Conditions via Monte Carlo Simulation
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Topics: Autonomous vehicles, Corporate average fuel economy, Fuel efficiency, Simulation, Vehicles, Traffic, Algorithms, Cities, Electrical discharge machining, Energy efficiency
Proceedings Papers

Robust Iterative Learning Control for Interval Linear Systems

Kirti D. Mishra, K. Srinivasan
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, V001T03A004, October 5–7, 2020
Paper No: DSCC2020-3267
https://doi.org/10.1115/DSCC2020-3267
View Paper titled, Robust Iterative Learning Control for Interval Linear Systems
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Topics: Iterative learning control, Linear systems, Errors, Transients (Dynamics), Computation, Control equipment, Design, Design methodology, Position control, Uncertainty
Proceedings Papers

Output-Feedback Linear Parameter Varying Control of Permanent Magnet Synchronous Motors

Jaecheol Lee, Shahin Tasoujian, Karolos Grigoriadis, Matthew Franchek
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, V001T03A006, October 5–7, 2020
Paper No: DSCC2020-3331
https://doi.org/10.1115/DSCC2020-3331
View Paper titled, Output-Feedback Linear Parameter Varying Control of Permanent Magnet Synchronous Motors
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Topics: Feedback, Motors, Permanent magnets, Control equipment, Engines, Design, Simulation, Temperature, Closed loop systems, Dynamics (Mechanics)
Proceedings Papers

Temperature Control of a Guard Heater Using Fuzzy Logic

Shahin S. Nudehi, Luke Venstrom
Proc. ASME. DSCC2019, Volume 1: Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing, V001T02A001, October 8–11, 2019
Paper No: DSCC2019-8906
https://doi.org/10.1115/DSCC2019-8906
View Paper titled, Temperature Control of a Guard Heater Using Fuzzy Logic
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Topics: Fuzzy logic, Temperature control, Control equipment, Feedback, Hardware, Simulation, Uncertainty
Proceedings Papers

Structured Robust Linear Parameter-Varying Vehicle Sideslip Angle Estimation

Jingqiang Zha, Junmin Wang, Min Li, Xin Zhang, Xiao Yu
Proc. ASME. DSCC2019, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, V002T26A002, October 8–11, 2019
Paper No: DSCC2019-9021
https://doi.org/10.1115/DSCC2019-9021
View Paper titled, Structured Robust Linear Parameter-Varying Vehicle Sideslip Angle Estimation
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Topics: Vehicles, Design, Simulation, Bicycles, Control equipment, Errors, Hardware, Matlab, Simulation models, Stiffness
Proceedings Papers

Towards Cooperative Transportation of Multiple Mecanum-Wheeled Automated Guided Vehicles

Jih-Sien Peng, Yen-Chen Liu
Proc. ASME. DSCC2019, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, V002T14A004, October 8–11, 2019
Paper No: DSCC2019-9141
https://doi.org/10.1115/DSCC2019-9141
View Paper titled, Towards Cooperative Transportation of Multiple Mecanum-Wheeled Automated Guided Vehicles
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Topics: Automated guided vehicles, Transportation systems, Uncertainty
Proceedings Papers

Output Feedback Control Synthesis for a Helicopter Using Explicit Nonlinear Model Predictive Control, Dynamic Inversion and Extended High Gain Observers

Joohwan Seo, Jongeun Choi
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T16A008, October 8–11, 2019
Paper No: DSCC2019-9036
https://doi.org/10.1115/DSCC2019-9036
View Paper titled, Output Feedback Control Synthesis for a Helicopter Using Explicit Nonlinear Model Predictive Control, Dynamic Inversion and Extended High Gain Observers
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Topics: Feedback, Predictive control, Design, Uncertainty, Computer simulation, Dynamics (Mechanics), Low-pass filters
Proceedings Papers

Drop Volume Control in Drop-on-Demand Inkjet Printing

Jie Wang, Xia Chen, George Chiu
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T17A011, October 8–11, 2019
Paper No: DSCC2019-9233
https://doi.org/10.1115/DSCC2019-9233
View Paper titled, Drop Volume Control in Drop-on-Demand Inkjet Printing
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Topics: Printing, Feedback, US Department of Defense, Control equipment, Uncertainty
Proceedings Papers

Motion Planning for Industrial Mobile Robots With Closed-Loop Stability Enhanced Prediction

Jessica Leu, Masayoshi Tomizuka
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T19A009, October 8–11, 2019
Paper No: DSCC2019-9208
https://doi.org/10.1115/DSCC2019-9208
View Paper titled, Motion Planning for Industrial Mobile Robots With Closed-Loop Stability Enhanced Prediction
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Topics: Mobile robots, Path planning, Stability, Robots, Human-robot interaction, Algorithms, Clearances (Engineering), Collisions (Physics), Delays, Engineering simulation
Proceedings Papers

Bayesian Estimation of Snow-Avalanche Victim Pose: A Method to Assist Human and/or Robot First Responders to Quickly Locate a Buried Victim

Joseph R. Bourne, Kam K. Leang
Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T21A001, October 8–11, 2019
Paper No: DSCC2019-8946
https://doi.org/10.1115/DSCC2019-8946
View Paper titled, Bayesian Estimation of Snow-Avalanche Victim Pose: A Method to Assist Human and/or Robot First Responders to Quickly Locate a Buried Victim
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Topics: Algorithms, Engineering standards, Magnetic fields, Robots, Simulation results, Uncertainty