... environment. This paper develops a three-dimensional dynamic model that predicts motions of off-centered lifts. Contributed by the Dynamic Systems Division of ASME for publication in the J OURNAL OF D YNAMIC S YSTEMS , M EASUREMENT, AND C ONTROL . Manuscript received January 15, 2016; final...

... supporting system. 16 10 2010 22 06 2011 06 12 2011 06 12 2011 end effectors manipulator dynamics nonlinear control systems PD control cable-supporting manipulator catenary dynamics nonlinear control trajectory tracking As one of the candidates...

...James Fisher; Raktim Bhattacharya In this paper, we develop a framework for solving optimal trajectory generation problems with probabilistic uncertainty in system parameters. The framework is based on the generalized polynomial chaos theory. We consider both linear and nonlinear dynamics...

... that the concept of Φ -related vector fields extends to the case of stochastic initial conditions where the probability density function (pdf) for the initial conditions is known. In the deterministic case, the Φ mapping commutes with the system dynamics. In this paper, we show that in the case of stochastic...

...Shashikanth Suryanarayanan; Amit Dixit In this work we describe a methodology to construct control-oriented, multi-input, multi-output linear models representing the dynamics of variable-speed, pitch-controlled horizontal-axis wind turbines (HAWT). The turbine is treated as an interconnection...

...Anand Vaz; Shinichi Hirai A system dynamics approach, based on bond graphs, is presented for the analysis of prosthetic devices for a partially impaired hand. The partial impairment implies that the hand has lost one or more fingers but retains the ability of its remaining natural fingers...

...Bobby L. Shields; Eric J. Barth; Michael Goldfarb A methodology is proposed for the control of switching systems characterized by linear system dynamics with a time delay in the input channel. The method incorporates a state predictor that at each switching period determines the effect...

...Przemysław Herman The precise control of a manipulator depends on its velocity as well as on its configuration and dynamic properties. This paper presents some observations that can serve as a useful tool for identifying nonlinear ear effects in a manipulator. The tool is based on equations...

...Quinn Y. J. Smithwick; Per G. Reinhall; Juris Vagners; Eric J. Seibel A nonlinear state-space dynamic model of a resonating single fiber scanner is developed to understand scan distortion—jump, whirl, amplitude dependent amplitude and phase shifts—and as the basis for controllers to remove those...

...E. Z. Taha,; G. S. Happawana,; Y. Hurmuzlu Sliding mode control (SMC) is a robust control technique with chattering as a major drawback. Chattering is undesirable because it can excite unmodeled high-frequency dynamics of the system. One way to reduce chattering is to introduce a boundary layer...

.... The analysis indicates that the proposed controller is insensitive to the gear mesh frequency estimation errors, and the resulting vibration control is more effective than those provided by the adaptive notch filter and filtered-x LMS algorithms. The control theory also incorporates dynamic normalization...

...Larry Silverberg; Chau Tran; Kit Adcock This paper numerically analyzes the dynamics of the basketball shot. The focus of the paper is on the development of a general formulation for the dynamics of the shot beginning when the ball leaves the shooter’s hand and ending when the shot is made...

... functions of the cam that can reduce both primary and residual vibrations of the output in elastic cam-follower systems despite parameter variations. A design example is given to verify the feasibility of the approach. Contributed by the Dynamic Systems, Measurement, and Control Division...

... motion. This paper present a dynamic mathematical model of a free-piston diesel engine, and a control oriented dynamic analysis leading to a piston motion control structure. Experimental results using a full scale test cylinder are included and show feasibility of the suggested control approach...

.... The compensation of the engine inertia by the additional flywheel is demonstrated by vehicle experiments. Contributed by the Dynamic Systems, Measurement, and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL...

...M. Karpenko; N. Sepehri The development of a fault tolerant control (FTC) strategy to compensate for the degrading effects of fluid leakage across a faulty actuator piston seal in an electrohydraulic positioning system is presented. Due to relatively large variations in the dynamics of the plant...

... is unable to keep his hands on the controls. This instability is investigated here and demonstrated through simulation. The instability described here is due to an interaction between the mechanical dynamics and hydraulic dynamics of the machine. All instabilities require an energy source, and, in this case...

...Eric J. Barth,; Jianlong Zhang, and; Michael Goldfarb This paper presents a control design methodology that provides a prescribed degree of stability robustness for plants characterized by discontinuous (i.e., switching) dynamics. The proposed control methodology transforms a discontinuous...

...Yisheng Zhang; Andrew Alleyne This paper describes a novel reformulation of a classical active vibration isolation problem, explicitly accounting for the dynamics of the actuator. By utilizing a clever reformulation of the problem rather than the traditional approaches, a very difficult problem can...

...Zeyu Liu; John Wagner The mathematical modeling of dynamic systems is an important task in the design, analysis, and implementation of advanced control systems. Although most vehicle control algorithms tend to use model-free calibration architectures, a need exists to migrate to model-based control...