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Journal Articles

A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear MPC Approach

Accepted Manuscript
Basit Muhammad Imran, Randall T Fawcett, Jeeseop Kim, Alexander Leonessa, Kaveh Akbari Hamed
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control.
Paper No: DS-24-1028
https://doi.org/10.1115/1.4066632
Published Online: September 28, 2024
View Article titled, A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear MPC Approach
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Topics: Control algorithms, Robots, Teams, Collisions (Physics), Control equipment, Engineering simulation, Simulation, Delays, Navigation, Pendulums
Journal Articles

Robust Control of Exo-Abs, a Wearable Platform for Ubiquitous Respiratory Assistance

Parham Rezaei, Sang-Yoep Lee, Kyujin Cho, Jin-Oh Hahn
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2025, 147(2): 021005.
Paper No: DS-24-1148
https://doi.org/10.1115/1.4066266
Published Online: September 10, 2024
View Article titled, Robust Control of Exo-Abs, a Wearable Platform for Ubiquitous Respiratory Assistance
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Topics: Control algorithms, Errors, Gain scheduling, Lung, Lyapunov stability, Modeling, Trajectories (Physics), Uncertainty, Dynamics (Mechanics), Stability
Journal Articles

Trajectory Planning and Tracking Using Decoupled CBF-QPs for Safe Navigation of Quadrotors

Sufyan Hafeez Khan, Azad Ghaffari
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. March 2025, 147(2): 021002.
Paper No: DS-24-1030
https://doi.org/10.1115/1.4065647
Published Online: August 29, 2024
View Article titled, Trajectory Planning and Tracking Using Decoupled CBF-QPs for Safe Navigation of Quadrotors
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Topics: Algorithms, Navigation, Quadratic programming, Safety, Trajectories (Physics), Uncertainty
Journal Articles

Reduced-Order Model Parameterization for Uncertain LTI SISO Systems

Roghaiyeh Ansari, Alexander Leonessa, Nicole Abaid
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2024, 146(5): 051004.
Paper No: DS-23-1091
https://doi.org/10.1115/1.4065648
Published Online: June 29, 2024
View Article titled, Reduced-Order Model Parameterization for Uncertain LTI SISO Systems
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Topics: Control equipment, Design, Dimensions, Errors, Parametrization, Eigenvalues, Filters, Uncertainty, Scalars, Signals
Journal Articles

Convex Optimization Based Design of Finite Impulse Response Filters for Reference Shaping

Adrian Stein, Tarunraj Singh
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2024, 146(5): 051003.
Paper No: DS-23-1134
https://doi.org/10.1115/1.4065702
Published Online: June 20, 2024
View Article titled, Convex Optimization Based Design of Finite Impulse Response Filters for Reference Shaping
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Topics: Design, Filters, Finite impulse response filters, Optimization, Robustness, Uncertainty, Impulse (Physics)
Includes: Supplementary data
Journal Articles

Dynamic Mode Decomposition With Gaussian Process Regression for Control of High-Dimensional Nonlinear Systems

Alexandros Tsolovikos, Efstathios Bakolas, David Goldstein
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. November 2024, 146(6): 064501.
Paper No: DS-23-1344
https://doi.org/10.1115/1.4065594
Published Online: June 17, 2024
View Article titled, Dynamic Mode Decomposition With Gaussian Process Regression for Control of High-Dimensional Nonlinear Systems
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Topics: Boundary layer turbulence, Dynamics (Mechanics), Errors, Noise (Sound), Nonlinear systems, Uncertainty, Predictive control, Trains, Modeling
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

Spiking-Free Disturbance Observer-Based Sliding-Mode Control for Mismatched Uncertain System

Yang Wang, Yan Guan, Huanyun Li
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2023, 145(12): 121004.
Paper No: DS-22-1313
https://doi.org/10.1115/1.4063609
Published Online: November 9, 2023
View Article titled, Spiking-Free Disturbance Observer-Based Sliding-Mode Control for Mismatched Uncertain System
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Topics: Errors, Sliding mode control, Uncertain systems, Uncertainty, Simulation results
Journal Articles

Linear Quadratic Optimal Robust Multivariable Proportional-Integral Control Design for a Boiler-Turbine Unit

Falguni Gopmandal, Arun Ghosh
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. December 2023, 145(12): 124502.
Paper No: DS-23-1144
https://doi.org/10.1115/1.4063662
Published Online: November 1, 2023
View Article titled, Linear Quadratic Optimal Robust Multivariable Proportional-Integral Control Design for a Boiler-Turbine Unit
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Topics: Boilers, Control equipment, Design, State feedback, Turbines, Uncertainty, Uncertain systems
Journal Articles

An Evenly Partition Approach to the Modeling and Constraint-Following Control for the Spatial Cooperative Dual-Robot-System

Fangfang Dong, Bin Yu, Xiaomin Zhao, Shan Chen, Haijun Liu
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2023, 145(11): 111003.
Paper No: DS-22-1178
https://doi.org/10.1115/1.4062956
Published Online: October 5, 2023
View Article titled, An Evenly Partition Approach to the Modeling and Constraint-Following Control for the Spatial Cooperative Dual-Robot-System
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Topics: Control equipment, Errors, Kaolin, Modeling, Robots, Robust control, Uncertainty, Stress, Manipulators, Symmetry (Physics)
Journal Articles

Predictive Generalized Active Disturbance Rejection Control for Fractional Order Systems With Time Delay

Shivam Jain, Yogesh V. Hote
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2023, 145(7): 071003.
Paper No: DS-22-1169
https://doi.org/10.1115/1.4062512
Published Online: June 6, 2023
View Article titled, Predictive Generalized Active Disturbance Rejection Control for Fractional Order Systems With Time Delay
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Topics: Control equipment, Delays, Robustness, Uncertainty
Journal Articles

Discrete-Time Constrained Controller for Proportional Directional Control Valve-Based Electrohydraulic System With Parametric Uncertainty and Disturbances

Ashok Kumar Kumawat, Raja Rout, Renu Kumawat, Manish Rawat
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2023, 145(7): 071001.
Paper No: DS-22-1226
https://doi.org/10.1115/1.4062469
Published Online: May 18, 2023
View Article titled, Discrete-Time Constrained Controller for Proportional Directional Control Valve-Based Electrohydraulic System With Parametric Uncertainty and Disturbances
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Topics: Control equipment, Environmental health and safety, Lyapunov functions, Uncertainty, Valves, Errors, Stress, Optimization, Design
Journal Articles

Discrete Robust Control of Robot Manipulators Using an Uncertainty and Disturbance Estimator

Ram Padmanabhan, Maithili Shetty, T. S. Chandar
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2023, 145(5): 051002.
Paper No: DS-22-1071
https://doi.org/10.1115/1.4062079
Published Online: March 20, 2023
View Article titled, Discrete Robust Control of Robot Manipulators Using an Uncertainty and Disturbance Estimator
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Topics: Control equipment, Design, Dynamics (Mechanics), Errors, Manipulators, Uncertainty, Robust control, Stability
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

A Deployment Approach Toward Time-Energy Efficient Robust Performance for Interceptors

Arunava Banerjee, Abdelaziz Salah Saidi, Abdullah A. Algethami, Mashuq un Nabi
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. October 2022, 144(10): 101002.
Paper No: DS-21-1020
https://doi.org/10.1115/1.4055022
Published Online: August 3, 2022
View Article titled, A Deployment Approach Toward Time-Energy Efficient Robust Performance for Interceptors
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Topics: Algorithms, Control equipment, Design, Dynamics (Mechanics), Errors, Missiles, Robust control, Stability, Uncertainty, Sliding mode control
Journal Articles

A Cascaded Learning Framework for Road Profile Estimation Using Multiple Heterogeneous Vehicles

Zhu Chen, Mohammad R. Hajidavalloo, Zhaojian Li, Minghui Zheng
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. October 2022, 144(10): 104501.
Paper No: DS-21-1365
https://doi.org/10.1115/1.4055041
Published Online: August 3, 2022
View Article titled, A Cascaded Learning Framework for Road Profile Estimation Using Multiple Heterogeneous Vehicles
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Topics: Filters, Roads, Signals, Vehicles, Errors, Design, Uncertainty
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

Estimation for Predictive Control and Human-in-the-Loop Operation of Rotary Steerable Systems

Alexander Mathew Keller, Vy Pho, Nazli Demirer, Robert Darbe, Dongmei Chen
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2022, 144(9): 091005.
Paper No: DS-21-1352
https://doi.org/10.1115/1.4054885
Published Online: July 19, 2022
View Article titled, Estimation for Predictive Control and Human-in-the-Loop Operation of Rotary Steerable Systems
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Topics: Chain, Control equipment, Drilling, Dynamics (Mechanics), Errors, Parameter estimation, Simulation, Trajectories (Physics), Predictive control, Uncertainty
Journal Articles

A Robust Time-Varying Riccati-Based Control for Uncertain Nonlinear Dynamical Systems

Vahid Azimi, Siavash Farzan, Seth Hutchinson
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. October 2022, 144(10): 101001.
Paper No: DS-21-1296
https://doi.org/10.1115/1.4054884
Published Online: July 19, 2022
View Article titled, A Robust Time-Varying Riccati-Based Control for Uncertain Nonlinear Dynamical Systems
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Topics: Control equipment, Uncertainty, Algorithms, Trajectories (Physics), Nonlinear systems, Errors
Journal Articles

Modeling and Cascade Control of a Pneumatic Positioning System

Anusree Mandali, Lili Dong
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. June 2022, 144(6): 061004.
Paper No: DS-21-1253
https://doi.org/10.1115/1.4053966
Published Online: March 18, 2022
View Article titled, Modeling and Cascade Control of a Pneumatic Positioning System
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Topics: Cascades (Fluid dynamics), Control equipment, Control systems, Dynamics (Mechanics), Pistons, Pneumatic actuators, Pneumatic systems, Pressure, Stability, Valves