Pub Date : 2001-11-11DOI: 10.1115/imece2001/dsc-24534
Junmin Wang, R. Rajamani
This paper addresses the stability of traffic flow on a highway when the vehicles operate under an adaptive cruise control (ACC) system. ACC systems are commonly designed to maintain a constant time-gap between vehicles during vehicle following. Previous researchers in literature have produced contradictory results on whether the traffic flow is stable when the constant time gap spacing policy is used. This paper resolves the contradiction and shows that the boundary conditions used at the inlets and exits influence traffic flow stability in the case of the constant time-gap policy. Further, the paper shows that it is possible to design an unconditionally stable spacing policy, i.e. a spacing policy which guarantees traffic stability under all boundary conditions. The practical implications of instability are shown through traffic simulation results. The advantages of an unconditionally stable spacing policy over the constant time-gap policy are demonstrated. The answer to the question “Should ACC systems be designed to maintain a constant time gap between vehicles?” is NO. It is quite easy to develop alternate spacing policies with superior stability properties.
{"title":"Should Adaptive Cruise Control (ACC) Systems Be Designed to Maintain a Constant Time-Gap Between Vehicles?","authors":"Junmin Wang, R. Rajamani","doi":"10.1115/imece2001/dsc-24534","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24534","url":null,"abstract":"\u0000 This paper addresses the stability of traffic flow on a highway when the vehicles operate under an adaptive cruise control (ACC) system. ACC systems are commonly designed to maintain a constant time-gap between vehicles during vehicle following. Previous researchers in literature have produced contradictory results on whether the traffic flow is stable when the constant time gap spacing policy is used. This paper resolves the contradiction and shows that the boundary conditions used at the inlets and exits influence traffic flow stability in the case of the constant time-gap policy. Further, the paper shows that it is possible to design an unconditionally stable spacing policy, i.e. a spacing policy which guarantees traffic stability under all boundary conditions. The practical implications of instability are shown through traffic simulation results. The advantages of an unconditionally stable spacing policy over the constant time-gap policy are demonstrated. The answer to the question “Should ACC systems be designed to maintain a constant time gap between vehicles?” is NO. It is quite easy to develop alternate spacing policies with superior stability properties.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"42 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78333488","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24635
J. Rastegar, Lifang Yuan
A systematic method is presented for optimal integration of smart actuators into the structure of robot manipulators for the purpose of enabling them to perform smooth object manipulation with smooth actuated joint motions. Here, the motions are considered to be smooth if they do not contain high harmonic components. For optimal positioning of smart actuators in the structure of robot manipulators, a method is developed based on the evaluation of the transmissibility of displacement (velocity and/or force) from the smart actuators to the robot manipulator joint motions and the end-effector displacements (velocity and/or force). A method is then presented for synthesizing actuated joint and object motions to achieve trajectories that do not contain high harmonic components. By minimizing the high harmonic components of the required joint and object motions with properly sized and placed smart actuators, such computer-controlled machines can operate at relatively higher speeds and achieve greater tracking precision with minimal vibration and control problems. A number of numerical examples are provided.
{"title":"Integration of Smart Actuators in the Structure of Robots for High-Speed and Precision Object Manipulation","authors":"J. Rastegar, Lifang Yuan","doi":"10.1115/imece2001/dsc-24635","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24635","url":null,"abstract":"\u0000 A systematic method is presented for optimal integration of smart actuators into the structure of robot manipulators for the purpose of enabling them to perform smooth object manipulation with smooth actuated joint motions. Here, the motions are considered to be smooth if they do not contain high harmonic components. For optimal positioning of smart actuators in the structure of robot manipulators, a method is developed based on the evaluation of the transmissibility of displacement (velocity and/or force) from the smart actuators to the robot manipulator joint motions and the end-effector displacements (velocity and/or force). A method is then presented for synthesizing actuated joint and object motions to achieve trajectories that do not contain high harmonic components. By minimizing the high harmonic components of the required joint and object motions with properly sized and placed smart actuators, such computer-controlled machines can operate at relatively higher speeds and achieve greater tracking precision with minimal vibration and control problems. A number of numerical examples are provided.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"42 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81857651","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24525
S. Cikanek, R. Baraszu, K. Bailey, N. Sureshbabu, M. Brackx
This paper describes mathematical modeling, analysis, simulation, and Hardware-in-the-Loop (HIL) results of a Low Storage Requirement Hybrid Electric Vehicle powertrain and control system. The hybrid powertrain is synthesized using a conventional spark-ignited internal combustion engine, an alternating current induction traction motor, a converterless automatic transmission, and a differential and halfshafts that drive front wheels. Component models are summarized and a complete powertrain model is presented. An operating strategy is also discussed together with HIL simulation results that demonstrate system performance.
{"title":"Dynamic Model and Control Law for a Low Storage Requirement Parallel Hybrid Electric Vehicle","authors":"S. Cikanek, R. Baraszu, K. Bailey, N. Sureshbabu, M. Brackx","doi":"10.1115/imece2001/dsc-24525","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24525","url":null,"abstract":"\u0000 This paper describes mathematical modeling, analysis, simulation, and Hardware-in-the-Loop (HIL) results of a Low Storage Requirement Hybrid Electric Vehicle powertrain and control system. The hybrid powertrain is synthesized using a conventional spark-ignited internal combustion engine, an alternating current induction traction motor, a converterless automatic transmission, and a differential and halfshafts that drive front wheels. Component models are summarized and a complete powertrain model is presented. An operating strategy is also discussed together with HIL simulation results that demonstrate system performance.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"24 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82571325","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24516
M. Druzhinina, A. Stefanopoulou, L. Moklegaard
In this paper we present further results on adaptive compression braking control for a Class-8 heavy duty vehicle with the objective to achieve good and consistent vehicle speed tracking performance during large variation in vehicle mass (payload) and road grade. In our previous work the adaptive controller performance was tested in simulations on a reduced order nonlinear vehicle/engine model. In this paper, we include several modifications to deal with actuator saturation and unmodeled dynamics. The final version of the controller is successfully evaluated on a high order crankangle model. Good tracking performance during braking as well as estimation properties of the algorithm for vehicle mass and road grade are confirmed. Moreover, the stability and response properties of the overall scheme are rigorously analyzed.
{"title":"Further Results on Adaptive Compression Braking Control for Heavy-Duty Vehicles","authors":"M. Druzhinina, A. Stefanopoulou, L. Moklegaard","doi":"10.1115/imece2001/dsc-24516","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24516","url":null,"abstract":"\u0000 In this paper we present further results on adaptive compression braking control for a Class-8 heavy duty vehicle with the objective to achieve good and consistent vehicle speed tracking performance during large variation in vehicle mass (payload) and road grade. In our previous work the adaptive controller performance was tested in simulations on a reduced order nonlinear vehicle/engine model. In this paper, we include several modifications to deal with actuator saturation and unmodeled dynamics. The final version of the controller is successfully evaluated on a high order crankangle model. Good tracking performance during braking as well as estimation properties of the algorithm for vehicle mass and road grade are confirmed. Moreover, the stability and response properties of the overall scheme are rigorously analyzed.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"54 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76460140","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24518
S. Suryanarayanan, M. Tomizuka
Lane-keeping operation in automated vehicles used in the PATH* program, is performed with the help of two lateral error measuring sensors mounted on the front and rear bumpers of the vehicles. Prom a fault management perspective, it is natural to investigate the problem of lateral control with just one of these sensors. This paper documents the analysis, design and experimental testing of lateral controllers based on information from either one of these two sensors. In addition, this paper includes a discussion on the problem of lateral control with the help of information from just the rear sensor from a pedagogical perspective. This problem presents an application of control of a non-minimum phase system and leads to counterintuitive results.
{"title":"Lateral Control of Automated Vehicles: On Degraded Mode Control Problems","authors":"S. Suryanarayanan, M. Tomizuka","doi":"10.1115/imece2001/dsc-24518","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24518","url":null,"abstract":"\u0000 Lane-keeping operation in automated vehicles used in the PATH* program, is performed with the help of two lateral error measuring sensors mounted on the front and rear bumpers of the vehicles. Prom a fault management perspective, it is natural to investigate the problem of lateral control with just one of these sensors. This paper documents the analysis, design and experimental testing of lateral controllers based on information from either one of these two sensors. In addition, this paper includes a discussion on the problem of lateral control with the help of information from just the rear sensor from a pedagogical perspective. This problem presents an application of control of a non-minimum phase system and leads to counterintuitive results.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"344 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76403365","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24611
W. Yim, Sahjendra N. Singh
This paper treats the question of force control and stabilization of a flexible beam using a piezoceramic actuator using only output feedback. It is assumed that there exists unstructured model uncertainties including beam parameters, contact surface stiffness, and the number of vibration modes in the model, and only force measurement is used for the contact force control. The controller has the structure of an inverse (a feedback linearizing) control system. For compensating the unknown function in the inverse control law arising from the uncertainties in the model, its estimate is constructed by a high-gain observer. Simulation results are presented which show robust force trajectory control and stabilization in the closed-loop system in the presence of unstructured uncertainties.
{"title":"Robust Output Feedback Force Control of Cantilever Beam Using Piezoelectric Actuator","authors":"W. Yim, Sahjendra N. Singh","doi":"10.1115/imece2001/dsc-24611","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24611","url":null,"abstract":"\u0000 This paper treats the question of force control and stabilization of a flexible beam using a piezoceramic actuator using only output feedback. It is assumed that there exists unstructured model uncertainties including beam parameters, contact surface stiffness, and the number of vibration modes in the model, and only force measurement is used for the contact force control. The controller has the structure of an inverse (a feedback linearizing) control system. For compensating the unknown function in the inverse control law arising from the uncertainties in the model, its estimate is constructed by a high-gain observer. Simulation results are presented which show robust force trajectory control and stabilization in the closed-loop system in the presence of unstructured uncertainties.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"9 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81434772","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24615
A. Nagchaudhuri, D. Garg
The uncertainty associated with the robot dynamics for performing contact tasks have often necessitated the use of adaptive algorithms. This paper investigates the use of adaptive control and impedance control for a difficult contact task involving multiple robots handling a common heavy object. Simulations are performed using various trajectories in the Cartesian space, and uncertainties associated with payload as well as dynamic characteristics of the robots are considered. Three different trajectories are generated for motion of the object centroid between the same two locations in the Cartesian space. The simulations establish that the adaptive strategies proposed are not only robust to uncertainties in dynamic parameters and load characteristics but also with regard to speed of motion and trajectory alterations that may be necessary for considerations involving path planning and obstacle avoidance.
{"title":"Adaptive Control Strategies for Coordination and Control of Mutliple Robots","authors":"A. Nagchaudhuri, D. Garg","doi":"10.1115/imece2001/dsc-24615","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24615","url":null,"abstract":"\u0000 The uncertainty associated with the robot dynamics for performing contact tasks have often necessitated the use of adaptive algorithms. This paper investigates the use of adaptive control and impedance control for a difficult contact task involving multiple robots handling a common heavy object. Simulations are performed using various trajectories in the Cartesian space, and uncertainties associated with payload as well as dynamic characteristics of the robots are considered. Three different trajectories are generated for motion of the object centroid between the same two locations in the Cartesian space. The simulations establish that the adaptive strategies proposed are not only robust to uncertainties in dynamic parameters and load characteristics but also with regard to speed of motion and trajectory alterations that may be necessary for considerations involving path planning and obstacle avoidance.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"21 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83895431","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24602
Z. Ji, M. Rodríguez
A novel approach is developed for identifying both the position and orientation of the base joints of modular platform manipulators. This new approach first establishes a spherical triangle to isolate and solve for one of the unknown placement parameters. With the reduced complexity, a closed-form formulation is then developed for the remaining unknown parameters through Dialytic Elimination for two identification poses. The identification process with the presented method is illustrated with a numerical example.
{"title":"Position and Orientation Identification of Platform Manipulators","authors":"Z. Ji, M. Rodríguez","doi":"10.1115/imece2001/dsc-24602","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24602","url":null,"abstract":"\u0000 A novel approach is developed for identifying both the position and orientation of the base joints of modular platform manipulators. This new approach first establishes a spherical triangle to isolate and solve for one of the unknown placement parameters. With the reduced complexity, a closed-form formulation is then developed for the remaining unknown parameters through Dialytic Elimination for two identification poses. The identification process with the presented method is illustrated with a numerical example.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"35 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88369310","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24561
T. Badea, V. Chiroiu, L. Munteanu
The purpose of this paper is to propose a configuration for a piezoelectric composite structure that can control the motion caused by mechanical loads. The composite structure is composed of two semi-infinite layers: one layer of main material, and another layer of piezoelectric material with Cantor-like structure. We show that the displacement distribution can be controlled actively by applying a voltage to the piezoelectric material.
{"title":"The Active Control of Motion in a Composite Structure","authors":"T. Badea, V. Chiroiu, L. Munteanu","doi":"10.1115/imece2001/dsc-24561","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24561","url":null,"abstract":"\u0000 The purpose of this paper is to propose a configuration for a piezoelectric composite structure that can control the motion caused by mechanical loads. The composite structure is composed of two semi-infinite layers: one layer of main material, and another layer of piezoelectric material with Cantor-like structure. We show that the displacement distribution can be controlled actively by applying a voltage to the piezoelectric material.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"21 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88493730","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 : 2001-11-11DOI: 10.1115/imece2001/dsc-24593
V. Chellaboina, S. Nersesov, W. Haddad
Poincaré’s method is well known for analyzing the stability of continuous-time periodic dynamical systems by studying the stability properties of a fixed point as an equilibrium point of a discrete-time system. In this paper we generalize Poincaré’s method to dynamical systems possessing left-continuous flows to address the stability of limit cycles and periodic orbits of left-continuous, hybrid, and impulsive dynamical systems. It is shown that resetting manifold (which gives rise to the state discontinuities) provides a natural hyperplane for defining a Poincaré return map. In the special case of impulsive dynamical systems, we show the Poincaré map replaces an nth-order impulsive dynamical system by an (n − 1)th-order discrete-time system for analyzing the stability of periodic orbits.
{"title":"A Generalization of Poincaré’s Theorem to Periodic Hybrid and Impulsive Dynamical Systems","authors":"V. Chellaboina, S. Nersesov, W. Haddad","doi":"10.1115/imece2001/dsc-24593","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24593","url":null,"abstract":"\u0000 Poincaré’s method is well known for analyzing the stability of continuous-time periodic dynamical systems by studying the stability properties of a fixed point as an equilibrium point of a discrete-time system. In this paper we generalize Poincaré’s method to dynamical systems possessing left-continuous flows to address the stability of limit cycles and periodic orbits of left-continuous, hybrid, and impulsive dynamical systems. It is shown that resetting manifold (which gives rise to the state discontinuities) provides a natural hyperplane for defining a Poincaré return map. In the special case of impulsive dynamical systems, we show the Poincaré map replaces an nth-order impulsive dynamical system by an (n − 1)th-order discrete-time system for analyzing the stability of periodic orbits.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"7 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77576724","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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