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Journal Articles

Accelerating Hybrid Systems Differential Dynamic Programming

John N. Nganga, Patrick M. Wensing

Letters Dyn. Sys. Control. January 2023, 3(1): 011002.

Paper No: ALDSC-22-1022

DOI: https://doi.org/10.1115/1.4056747

Published Online: February 28, 2023

...John N. Nganga; Patrick M. Wensing This letter presents approaches that reduce the computational demand of including second-order dynamics sensitivity information into optimization algorithms for robots in contact with the environment. A full second-order differential dynamic programming (DDP...

View Article titled, Accelerating Hybrid Systems Differential Dynamic Programming

Topics: Algorithms, Dynamics (Mechanics), Tensors, Trajectories (Physics), Dynamic programming, Computation, Robots, Optimization

Journal Articles

A Technique for Constrained and Quantized Control of Nonlinear Systems Using Second-Order Cone Programming

Olli Jansson, Matthew W. Harris

Letters Dyn. Sys. Control. January 2023, 3(1): 011001.

Paper No: ALDSC-22-1029

DOI: https://doi.org/10.1115/1.4056551

Published Online: January 24, 2023

... 2022 24 01 2023 computational methods constrained control nonlinear control optimization algorithms Office of Naval Research 10.13039/100000006 N00014-22-1-2131 Many control systems include nonlinear dynamics. The popular book on nonlinear control by Khalil [ 1...

View Article titled, A Technique for Constrained and Quantized Control of Nonlinear Systems Using Second-Order Cone Programming

Topics: Computer programming, Engines, Linear systems, Motors, Nonlinear systems, Optimization, Pendulums, Theorems (Mathematics), Trajectories (Physics), Discrete time systems

Journal Articles

An Efficient Design Procedure for MEMS Electrothermal Microgripper

Ananya Roy, Rajasree Sarkar, Arunava Banerjee, Mashuq un Nabi

Letters Dyn. Sys. Control. April 2022, 2(2): 021006.

Paper No: ALDSC-20-1087

DOI: https://doi.org/10.1115/1.4052668

Published Online: October 26, 2021

...: roy.ananya2009@gmail.com Email: rajasree.sarkar11@gmail.com Email: arunavabanerjee27@gmail.com Email: mnabi@ee.iitd.ac.in 20 12 2020 01 10 2021 05 10 2021 26 10 2021 MEMS nonlinear control optimization algorithms In the last few decades, the development...

View Article titled, An Efficient Design Procedure for MEMS Electrothermal Microgripper

Topics: Algorithms, Current density, Design, Displacement, Microelectromechanical systems, Modeling, Optimization, Simulation, Temperature, Finite element analysis

Journal Articles

Parameter Identification for Electrochemical Models of Lithium-Ion Batteries Using Sensitivity Analysis

Chitra Dangwal, Marcello Canova

Letters Dyn. Sys. Control. October 2021, 1(4): 041014.

Paper No: ALDSC-20-1064

DOI: https://doi.org/10.1115/1.4050794

Published Online: May 4, 2021

... ], which saves the computation effort associated with solving the SDEs in the time domain. This study solves the SDEs in the time domain, such that the solution can be incorporated into optimization algorithms to calibrate the model against time-series data. This section outlines the concept of SDE...

View Article titled, Parameter Identification for Electrochemical Models of Lithium-Ion Batteries Using Sensitivity Analysis

Topics: Algorithms, Calibration, Diffusion (Physics), Lithium, Optimization, Particle swarm optimization, Particulate matter, Sensitivity analysis, Optimization algorithms, Lithium-ion batteries

Journal Articles

Data-Driven Feedforward Control Design and Input Shaping Techniques for Multi Actuator Drives

Prateek Shah, Roberto Horowitz

Letters Dyn. Sys. Control. July 2021, 1(3): 031009.

Paper No: ALDSC-20-1058

DOI: https://doi.org/10.1115/1.4049558

Published Online: January 27, 2021

... constrained control control applications H infinity control linear matrix inequality (LMIs) optimization algorithms robust control uncertain systems vibration control vibrations The demand for cloud storage is ever increasing today, requiring more efficient storage options. Hard disk drives...

View Article titled, Data-Driven Feedforward Control Design and Input Shaping Techniques for Multi Actuator Drives

Topics: Actuators, Control equipment, Design, Feedforward control, Vibration, Design methodology

Journal Articles

Assessing Impact of Understory Vegetation Density on Solid Obstacle Detection for Off-Road Autonomous Ground Vehicles

Morteza Foroutan, Wenmeng Tian, Christopher T. Goodin

Letters Dyn. Sys. Control. April 2021, 1(2): 021008.

Paper No: ALDSC-20-1016

DOI: https://doi.org/10.1115/1.4047816

Published Online: August 3, 2020

... analysis understory vegetation density automotive systems computational methods identification machine learning modeling optimization algorithms unmanned vehicles Scene understanding and traversability analysis are challenging tasks for autonomous driving applications. For off-road...

View Article titled, Assessing Impact of Understory Vegetation Density on Solid Obstacle Detection for Off-Road Autonomous Ground Vehicles

Topics: Algorithms, Density, Roads, Vehicles, Machine learning, Simulation

Journal Articles

Configuration Optimization for End-Point Stabilization of Redundant Manipulators With Base Flexibility

Michael LiBretto, Yong Han Ahn, Chang Soo Han, Yong K. Cho, Jun Ueda

Letters Dyn. Sys. Control. April 2021, 1(2): 021001.

Paper No: ALDSC-19-1131

DOI: https://doi.org/10.1115/1.4046684

Published Online: April 8, 2020

... and first-responder robots have been developed in various forms. dynamics and control optimization algorithms vibration control 25 10 2019 09 02 2020 16 02 2020 18 03 2020 Email: jun.ueda@me.gatech.edu Email: yong.cho@ce.gatech.edu Email: cshan@hanyang.ac.kr...

View Article titled, Configuration Optimization for End-Point Stabilization of Redundant Manipulators With Base Flexibility

Topics: Dynamics (Mechanics), Feedback, Manipulators, Optimization, Oscillations, Stability, Trenching machinery, Control equipment, Robustness, Errors

Journal Articles

Hierarchical Nonlinear Moving Horizon Estimation of Vehicle Lateral Speed and Road Friction Coefficient

Chi Jin, Anson Maitland, John McPhee

Letters Dyn. Sys. Control. January 2021, 1(1): 011005.

Paper No: ALDSC-19-1018

DOI: https://doi.org/10.1115/1.4046395

Published Online: March 6, 2020

..., a standard nonlinear moving horizon formulation leads to non-convex optimization problems, and numerical optimization algorithms can be trapped in undesirable local minima, leading to incorrect solutions. To address the challenge of non-convex cost functions, we propose an estimator with a two-level...

View Article titled, Hierarchical Nonlinear Moving Horizon Estimation of Vehicle Lateral Speed and Road Friction Coefficient

Topics: Algorithms, Design, Friction, Optimization, Roads, Simulation, Tires, Vehicles, Sensors, Signals

Journal citation

NARROW

Accelerating Hybrid Systems Differential Dynamic Programming

A Technique for Constrained and Quantized Control of Nonlinear Systems Using Second-Order Cone Programming

An Efficient Design Procedure for MEMS Electrothermal Microgripper

Parameter Identification for Electrochemical Models of Lithium-Ion Batteries Using Sensitivity Analysis

Data-Driven Feedforward Control Design and Input Shaping Techniques for Multi Actuator Drives

Assessing Impact of Understory Vegetation Density on Solid Obstacle Detection for Off-Road Autonomous Ground Vehicles

Configuration Optimization for End-Point Stabilization of Redundant Manipulators With Base Flexibility

Hierarchical Nonlinear Moving Horizon Estimation of Vehicle Lateral Speed and Road Friction Coefficient

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