Pub Date : 2020-09-14DOI: 10.1109/amc44022.2020.9244318
Kiyoshi Ohishi, K. Ohnishi
Technical Program Committee: Andrew Fleming, University of Newcastle, Australia Anton Shiriaev, NTNU Trondheim, Norway Goele Pipeleers, KU Leuven, Belgium Jan Tommy Gravdahl, NTNU Trondheim, Norway Johann Reger, Technical University Ilmenau, Germany Kazuaki Ito, Gifu University, Japan Kenji Natori, Chiba University, Japan Kenn Oldham, University of Michigan, USA Kyoungchul Kong, Sogang University, Korea Marina Indri, Politecnico di Torino, Italy Martin Steinberger, TU Graz, Austria Michael Rygaard Hansen, University of Agder, Norway Mikael Norrlof, ABB Robotics, Sweden Seiichiro Katsura, Keio University, Japan Stanislav Aranovskiy, Centrale Supélec, France Yasutaka Fujimoto, Yokohama National University, Japan Yoshihiro Maeda, Nagoya Institute of Technology, Japan
技术计划委员会：Andrew Fleming，澳大利亚纽卡斯尔大学 Anton Shiriaev，挪威特隆赫姆国立师范大学 Goele Pipeleers，比利时鲁汶大学 Jan Tommy Gravdahl，挪威特隆赫姆国立师范大学 Johann Reger，德国伊尔梅瑙工业大学 Kazuaki Ito，日本岐阜大学 Kenji Natori，日本千叶大学 Kenn Oldham，美国密歇根大学 Kyoungchul Kong，韩国产业大学、Marina Indri，意大利都灵理工大学 Martin Steinberger，奥地利格拉茨理工大学 Michael Rygaard Hansen，挪威阿格德尔大学 Mikael Norrlof，瑞典 ABB 机器人公司 Seiichiro Katsura，日本庆应义塾大学 Stanislav Aranovskiy，法国 Centrale Supélec公司 Yasutaka Fujimoto，日本横滨国立大学 Yoshihiro Maeda，日本名古屋工业大学
{"title":"AMC2020 Organizing Committees","authors":"Kiyoshi Ohishi, K. Ohnishi","doi":"10.1109/amc44022.2020.9244318","DOIUrl":"https://doi.org/10.1109/amc44022.2020.9244318","url":null,"abstract":"Technical Program Committee: Andrew Fleming, University of Newcastle, Australia Anton Shiriaev, NTNU Trondheim, Norway Goele Pipeleers, KU Leuven, Belgium Jan Tommy Gravdahl, NTNU Trondheim, Norway Johann Reger, Technical University Ilmenau, Germany Kazuaki Ito, Gifu University, Japan Kenji Natori, Chiba University, Japan Kenn Oldham, University of Michigan, USA Kyoungchul Kong, Sogang University, Korea Marina Indri, Politecnico di Torino, Italy Martin Steinberger, TU Graz, Austria Michael Rygaard Hansen, University of Agder, Norway Mikael Norrlof, ABB Robotics, Sweden Seiichiro Katsura, Keio University, Japan Stanislav Aranovskiy, Centrale Supélec, France Yasutaka Fujimoto, Yokohama National University, Japan Yoshihiro Maeda, Nagoya Institute of Technology, Japan","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131834942","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/amc44022.2020.9244323
{"title":"Robotics and Haptics","authors":"","doi":"10.1109/amc44022.2020.9244323","DOIUrl":"https://doi.org/10.1109/amc44022.2020.9244323","url":null,"abstract":"","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129521166","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/AMC44022.2020.9244390
Rintaro Nakano, K. Ohishi, Y. Yokokura
This paper proposes the replacement of the control implemented in the hydraulic boom cylinder of a hydraulic excavator with a ball screw actuator. The hydraulic system controls the flow rate and pressure of the hydraulic pump, so the extension and contraction speed of the cylinder is controlled by the set command flow rate of the pump. Therefore, in the case the boom cylinder is replaced with the ball screw, the hybrid control of speed and force is required. Additionally, because ball screws are vulnerable to impact forces, impact force relaxation control is required. Conventional impact force mitigation control stops operation after contact with the environment and but generates a large subsequent impact force. This issue is solved using, a controlled acceleration approach, which applies an acceleration command in the same direction as the impact force exerted due owing to the contact with the environment. Thus, this proposed method reduces the impact force. This paper explains the soft boom cylinder control using a disturbance-observer-based equivalent hydraulic system for an electric excavator. The validity of the proposed soft impact force control is verified from experimental results obtained using the actual electric excavator.
{"title":"Soft Boom Cylinder Control Using Disturbance-Observer-Based Equivalent Hydraulic System for Electric Excavator","authors":"Rintaro Nakano, K. Ohishi, Y. Yokokura","doi":"10.1109/AMC44022.2020.9244390","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244390","url":null,"abstract":"This paper proposes the replacement of the control implemented in the hydraulic boom cylinder of a hydraulic excavator with a ball screw actuator. The hydraulic system controls the flow rate and pressure of the hydraulic pump, so the extension and contraction speed of the cylinder is controlled by the set command flow rate of the pump. Therefore, in the case the boom cylinder is replaced with the ball screw, the hybrid control of speed and force is required. Additionally, because ball screws are vulnerable to impact forces, impact force relaxation control is required. Conventional impact force mitigation control stops operation after contact with the environment and but generates a large subsequent impact force. This issue is solved using, a controlled acceleration approach, which applies an acceleration command in the same direction as the impact force exerted due owing to the contact with the environment. Thus, this proposed method reduces the impact force. This paper explains the soft boom cylinder control using a disturbance-observer-based equivalent hydraulic system for an electric excavator. The validity of the proposed soft impact force control is verified from experimental results obtained using the actual electric excavator.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"143 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126907468","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/AMC44022.2020.9244371
Akari Takada, Akira Hirata, S. Katsura
Precise joint angle control for functional electrical stimulation (FES), which is used in a wide range of neurore-habilitation systems, has been a topic of interest for several decades. Many control methods focus on how to cope with highly nonlinear and time-varying properties of the musculoskeletal system. However, to achieve accurate joint control, redundancy of the musculoskeletal system must be taken into account. This paper proposes a coactivation method using the common and differential modes, which is defined by the sum and difference of the extensor and flexor activities. This method is based on the notion that the common mode is closely related to the apparent joint stiffness, while the differential mode is closely related to the joint angle. The differential mode proves to have a relatively linear relationship to the joint angle, which validates our method to control the differential mode. Experimental results show that the proposed coactivation method enables relatively high tracking performance even with a basic proportional-integral-derivative (PID) controller, suggesting that the proposed method implements natural coactivation similar to human motor control strateaies.
{"title":"Coactivation Method Based on Common and Differential Modes for Joint Angle Control for Functional Electrical Stimulation Control","authors":"Akari Takada, Akira Hirata, S. Katsura","doi":"10.1109/AMC44022.2020.9244371","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244371","url":null,"abstract":"Precise joint angle control for functional electrical stimulation (FES), which is used in a wide range of neurore-habilitation systems, has been a topic of interest for several decades. Many control methods focus on how to cope with highly nonlinear and time-varying properties of the musculoskeletal system. However, to achieve accurate joint control, redundancy of the musculoskeletal system must be taken into account. This paper proposes a coactivation method using the common and differential modes, which is defined by the sum and difference of the extensor and flexor activities. This method is based on the notion that the common mode is closely related to the apparent joint stiffness, while the differential mode is closely related to the joint angle. The differential mode proves to have a relatively linear relationship to the joint angle, which validates our method to control the differential mode. Experimental results show that the proposed coactivation method enables relatively high tracking performance even with a basic proportional-integral-derivative (PID) controller, suggesting that the proposed method implements natural coactivation similar to human motor control strateaies.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115617901","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/AMC44022.2020.9244359
A. Sarjaš, Martin Steinberger, D. Gleich, M. Horn
The paper presents experimental assessments of different event-triggered sliding mode control strategies. The main purpose of the event-triggered control approach is to reduce the system utilization and relax the scheduling of the tasks on real-time systems. Event triggering is a real-time implementation technique, where the execution of the controller is not fixed to a preselected sampling time. The stability and performance of the controlled system need to be preserved with regard to the sporadic nature of the controller update. Sliding mode controllers are employed in the context of event-triggering to achieve robustness with respect to matched perturbations. Three different sliding mode event-triggered strategies are evaluated on the real-time positioning system. All the obtained experimental results are compared to a time-triggered version. The results confirm that event-triggering sliding mode control is well suited and reduce the system use drastically.
{"title":"Event-Triggered Sliding Mode Control Strategies for Positioning Systems: An Experimental Assessment","authors":"A. Sarjaš, Martin Steinberger, D. Gleich, M. Horn","doi":"10.1109/AMC44022.2020.9244359","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244359","url":null,"abstract":"The paper presents experimental assessments of different event-triggered sliding mode control strategies. The main purpose of the event-triggered control approach is to reduce the system utilization and relax the scheduling of the tasks on real-time systems. Event triggering is a real-time implementation technique, where the execution of the controller is not fixed to a preselected sampling time. The stability and performance of the controlled system need to be preserved with regard to the sporadic nature of the controller update. Sliding mode controllers are employed in the context of event-triggering to achieve robustness with respect to matched perturbations. Three different sliding mode event-triggered strategies are evaluated on the real-time positioning system. All the obtained experimental results are compared to a time-triggered version. The results confirm that event-triggering sliding mode control is well suited and reduce the system use drastically.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114428427","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/AMC44022.2020.9244326
Maximilien Tsuji, T. Murakami
This paper aims to describe an approach to collaborative transport by mecanum mobile robots without using force sensors and regardless of the object's stiffness. Collaborative transport by mobile robots has been studied as an alternative to the conventional method for moving an object from one point to another using only one robot. This research's objective consists in developing a 3 DoF system in which the mecanum robots operate with an enhanced maneuverability. The proposed method uses Reaction Torque Observer (RTOB) which gives access to the contact force between the robots and the object. So far, simulation and experimentation results for simple movements validate the implemented control structure.
{"title":"Collaborative Transport by Mecanum Mobile Robots using Reaction Torque Observer","authors":"Maximilien Tsuji, T. Murakami","doi":"10.1109/AMC44022.2020.9244326","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244326","url":null,"abstract":"This paper aims to describe an approach to collaborative transport by mecanum mobile robots without using force sensors and regardless of the object's stiffness. Collaborative transport by mobile robots has been studied as an alternative to the conventional method for moving an object from one point to another using only one robot. This research's objective consists in developing a 3 DoF system in which the mecanum robots operate with an enhanced maneuverability. The proposed method uses Reaction Torque Observer (RTOB) which gives access to the contact force between the robots and the object. So far, simulation and experimentation results for simple movements validate the implemented control structure.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"79 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130289355","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/amc44022.2020.9244414
M. Archibald
{"title":"Human Machine Interface","authors":"M. Archibald","doi":"10.1109/amc44022.2020.9244414","DOIUrl":"https://doi.org/10.1109/amc44022.2020.9244414","url":null,"abstract":"","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122213995","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/AMC44022.2020.9244330
Evan Dunwoodie, R. Mutlu, B. Ugurlu, M. C. Yildirim, T. Uzunović, E. Sariyildiz
Compared to the traditional industrial robots that use rigid actuators, the advanced robotic systems are mobile and physically interact with unknown and dynamic environments. Therefore, they need intrinsically safe and compact actuators. In the last two decades, Series Elastic Actuators (SEAs) have been one of the most popular compliant actuators in advanced robotic applications due to their intrinsically safe and compact mechanical structures. The mobility and functionality of the advanced robotic systems are highly related to the torque-density of their actuators. For example, the amount of assistance an exoskeleton robot can provide is determined by the trade-off between the weight and output-torque, i.e., torque-density, of its actuators. As the torque outputs of the actuators are increased, the exoskeleton can expand its capacity yet it generally becomes heavier and bulkier. This has significant impact on the mobility of the advanced robotic systems. Therefore, it is essential to design light-weight actuators which can provide high-output torque. However, this still remains a big challenge in engineering. To this end, this paper proposes a high-torque density SEA for physical robot environment interaction (p-REI) applications. The continuous (peak) output-torque of the proposed compliant actuator is 147Nm (467 Nm) and its weight is less than 2.5kg. It is shown that the weight can be lessened to 1.74, but it comes at cost. The performance of the proposed compliant actuator is experimentally verified.
{"title":"A High-Torque Density Compliant Actuator Design for Physical Robot Environment Interaction","authors":"Evan Dunwoodie, R. Mutlu, B. Ugurlu, M. C. Yildirim, T. Uzunović, E. Sariyildiz","doi":"10.1109/AMC44022.2020.9244330","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244330","url":null,"abstract":"Compared to the traditional industrial robots that use rigid actuators, the advanced robotic systems are mobile and physically interact with unknown and dynamic environments. Therefore, they need intrinsically safe and compact actuators. In the last two decades, Series Elastic Actuators (SEAs) have been one of the most popular compliant actuators in advanced robotic applications due to their intrinsically safe and compact mechanical structures. The mobility and functionality of the advanced robotic systems are highly related to the torque-density of their actuators. For example, the amount of assistance an exoskeleton robot can provide is determined by the trade-off between the weight and output-torque, i.e., torque-density, of its actuators. As the torque outputs of the actuators are increased, the exoskeleton can expand its capacity yet it generally becomes heavier and bulkier. This has significant impact on the mobility of the advanced robotic systems. Therefore, it is essential to design light-weight actuators which can provide high-output torque. However, this still remains a big challenge in engineering. To this end, this paper proposes a high-torque density SEA for physical robot environment interaction (p-REI) applications. The continuous (peak) output-torque of the proposed compliant actuator is 147Nm (467 Nm) and its weight is less than 2.5kg. It is shown that the weight can be lessened to 1.74, but it comes at cost. The performance of the proposed compliant actuator is experimentally verified.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"112 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132582978","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/AMC44022.2020.9244338
T. Ohhira, T. Murakami
This paper presents a force control system design by model predictive control scheme. Recently, a lot of research has been carried out on the robots that take the place of human labor. One of the challenges of such robots is deformable object manipulation to working on food processing, surgery, etc. For handling deformable objects by a rigid robot manipulator is required an advanced reaction force control methodology. Such force control methods have to consider suitable force application without excess and deficiency forces for preventing to drop and destroy in contact with unknown objects. To realize this, it is required to directly consider constraints on control input, rate of input, velocity, etc. Model predictive control is known as one of the key techniques in control fields, and it has a potential for stable force control implementation by considering constraints. This paper attempts to design a new force control system by utilizing model predictive velocity control based on an augmented state-space model with a disturbance term. Finally, the performances of the proposed method via numerical simulation are shown.
{"title":"An Approach to Force Control by Model Predictive Velocity Control with Constraints","authors":"T. Ohhira, T. Murakami","doi":"10.1109/AMC44022.2020.9244338","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244338","url":null,"abstract":"This paper presents a force control system design by model predictive control scheme. Recently, a lot of research has been carried out on the robots that take the place of human labor. One of the challenges of such robots is deformable object manipulation to working on food processing, surgery, etc. For handling deformable objects by a rigid robot manipulator is required an advanced reaction force control methodology. Such force control methods have to consider suitable force application without excess and deficiency forces for preventing to drop and destroy in contact with unknown objects. To realize this, it is required to directly consider constraints on control input, rate of input, velocity, etc. Model predictive control is known as one of the key techniques in control fields, and it has a potential for stable force control implementation by considering constraints. This paper attempts to design a new force control system by utilizing model predictive velocity control based on an augmented state-space model with a disturbance term. Finally, the performances of the proposed method via numerical simulation are shown.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128100452","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/AMC44022.2020.9244454
Rafael Tavares, M. Ruderman, D. Menjoie, J. V. Molina, M. Dhaens
This paper deals with modeling and identification of vertical dynamics of the ground vehicle equipped with two active anti-roll torsion bars. A series of field tests of a full-scale drive have been performed, from which multiple displacement and acceleration data of the unsprung and sprung masses have been collected for each vehicle corner. The standard full vertical vehicle model is extended by the developed model of an active anti-roll torsion bar and valve-controlled semi-active shock absorbing damper. Along with the three-dimensional damping map, the nonlinear progressive stiffness of the elastomer-based decoupling unit are identified from the available data. The multi-channel and multi-state linearized dynamic system model is also obtained. Several MIMO transfer characteristics are exemplary shown for comparing the measured frequency response functions and those estimated from the input-output behavior of the full model. The vehicle setup with the anti-roll bars and performed field tests are described along with the drive trajectories and road excitation conditions.
{"title":"Modeling and field-experiments identification of vertical dynamics of vehicle with active anti-roll bar","authors":"Rafael Tavares, M. Ruderman, D. Menjoie, J. V. Molina, M. Dhaens","doi":"10.1109/AMC44022.2020.9244454","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244454","url":null,"abstract":"This paper deals with modeling and identification of vertical dynamics of the ground vehicle equipped with two active anti-roll torsion bars. A series of field tests of a full-scale drive have been performed, from which multiple displacement and acceleration data of the unsprung and sprung masses have been collected for each vehicle corner. The standard full vertical vehicle model is extended by the developed model of an active anti-roll torsion bar and valve-controlled semi-active shock absorbing damper. Along with the three-dimensional damping map, the nonlinear progressive stiffness of the elastomer-based decoupling unit are identified from the available data. The multi-channel and multi-state linearized dynamic system model is also obtained. Several MIMO transfer characteristics are exemplary shown for comparing the measured frequency response functions and those estimated from the input-output behavior of the full model. The vehicle setup with the anti-roll bars and performed field tests are described along with the drive trajectories and road excitation conditions.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"03 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124465129","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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