@article{MTMT:33555101,
	title = {Stability analysis of a digital hierarchical steering controller of autonomous vehicles with multiple time delays},
	url = {https://m2.mtmt.hu/api/publication/33555101},
	author = {Bártfai, András and Vörös, Illés and Takács, Dénes},
	doi = {10.1177/10775463221146624},
	journal-iso = {J VIB CONTROL},
	journal = {JOURNAL OF VIBRATION AND CONTROL},
	volume = {30},
	unique-id = {33555101},
	issn = {1077-5463},
	abstract = {This study investigates the lane-keeping control of autonomous vehicles with an emphasis on the digital delayed nature of the system. The vehicle dynamics are represented using a kinematic bicycle model, and a hierarchical lane-keeping controller is introduced with multiple delays in the feedback loop. An extension of the semidiscretization method is presented, in order to perform the stability analysis of the digitally controlled vehicle with multiple discrete time delays. The differences between the continuous approximation and the exact consideration of discrete time delays are highlighted. We show that in certain cases, neglecting the effects of quantization can lead to significant inaccuracies, especially when tuning the lower-level controller. The results are verified using a series of small-scale laboratory experiments.},
	year = {2024},
	eissn = {1741-2986},
	pages = {330-341},
	orcid-numbers = {Bártfai, András/0000-0002-3205-9125; Takács, Dénes/0000-0003-1226-8613}
}

@inproceedings{MTMT:33755058,
	title = {Data-driven delay identification with SINDy},
	url = {https://m2.mtmt.hu/api/publication/33755058},
	author = {Köpeczi-Bócz, Ákos Tamás and Sykora, Henrik Tamás and Takács, Dénes},
	booktitle = {Advances in Nonlinear Dynamics, Volume III},
	doi = {10.1007/978-3-031-50635-2_45},
	unique-id = {33755058},
	year = {2024},
	pages = {481-491},
	orcid-numbers = {Sykora, Henrik Tamás/0000-0003-1034-4387; Takács, Dénes/0000-0003-1226-8613}
}

@article{MTMT:34040356,
	title = {Extending the admissible control-loop delays for the inverted pendulum by fractional-order proportional-derivative controller},
	url = {https://m2.mtmt.hu/api/publication/34040356},
	author = {Balogh, Tamás and Insperger, Tamás},
	doi = {10.1177/10775463231181662},
	journal-iso = {J VIB CONTROL},
	journal = {JOURNAL OF VIBRATION AND CONTROL},
	volume = {30},
	unique-id = {34040356},
	issn = {1077-5463},
	abstract = {Stabilization of the inverted pendulum by fractional-order proportional-derivative (PD) feedback with two delays is investigated. This feedback law is obtained as a combination of PD feedback with two delays and fractional-order PD feedback with a single delay. Different types of stabilizability boundaries and the corresponding geometric and multiplicity conditions are determined using the D-subdivision method. The stabilizable region is depicted in the plane of the delay parameters for given fractional derivative orders. Several special cases and the concept of delay detuning are also discussed. It is shown that the admissible delay can be slightly increased compared to the integer-order PD feedback by introducing a fractional-order feedback term.},
	keywords = {Time delay; Feedback systems; Acoustics; Engineering, Mechanical; stabilizability; fractional-order control},
	year = {2024},
	eissn = {1741-2986},
	pages = {2596-2604},
	orcid-numbers = {Insperger, Tamás/0000-0001-7518-9774}
}

@article{MTMT:34077846,
	title = {Autonomous unicycle: modeling, dynamics, and control},
	url = {https://m2.mtmt.hu/api/publication/34077846},
	author = {Cao, X. and Bui, D.C. and Takács, Dénes and Orosz, Gábor},
	doi = {10.1007/s11044-023-09923-7},
	journal-iso = {MULTIBODY SYST DYN},
	journal = {MULTIBODY SYSTEM DYNAMICS},
	volume = {61},
	unique-id = {34077846},
	issn = {1384-5640},
	year = {2024},
	eissn = {1573-272X},
	pages = {43-76},
	orcid-numbers = {Takács, Dénes/0000-0003-1226-8613}
}

@article{MTMT:34167992,
	title = {Dynamical integrity estimation in time delayed systems: A rapid iterative algorithm},
	url = {https://m2.mtmt.hu/api/publication/34167992},
	author = {Szaksz, Bence Máté and Stépán, Gábor and Habib, Giuseppe},
	doi = {10.1016/j.jsv.2023.118045},
	journal-iso = {J SOUND VIB},
	journal = {JOURNAL OF SOUND AND VIBRATION},
	volume = {571},
	unique-id = {34167992},
	issn = {0022-460X},
	year = {2024},
	eissn = {1095-8568},
	orcid-numbers = {Stépán, Gábor/0000-0003-0309-2409; Habib, Giuseppe/0000-0003-3323-6901}
}

@inproceedings{MTMT:34224098,
	title = {Reversing Along a Curved Path by an Autonomous Truck–Semitrailer Combination},
	url = {https://m2.mtmt.hu/api/publication/34224098},
	author = {Mihályi, Levente and Takács, Dénes},
	booktitle = {Advances in Nonlinear Dynamics, Volume II},
	doi = {10.1007/978-3-031-50639-0_10},
	unique-id = {34224098},
	year = {2024},
	pages = {105-115},
	orcid-numbers = {Mihályi, Levente/0009-0007-5901-0624; Takács, Dénes/0000-0003-1226-8613}
}

@article{MTMT:33563467,
	title = {Variational Principles for the Trajectory Tracking Control of Underactuated Mechanical Systems},
	url = {https://m2.mtmt.hu/api/publication/33563467},
	author = {Bodor, Bálint and Bencsik, László},
	doi = {10.1115/1.4056593},
	journal-iso = {J COMPUT NONLIN DYN},
	journal = {JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS},
	volume = {18},
	unique-id = {33563467},
	issn = {1555-1415},
	abstract = {Robotics is undergoing dynamic progression with the spread of soft robots and compliant mechanisms. The mechanical models describing these systems are underactuated, having more degrees-of-freedom than inputs. The trajectory tracking control of underactuated systems is not straightforward. The solution of the inverse dynamics is not stable in all cases, as it only considers the actual state of the system. Therefore employing the advances of optimal control theory is a reasonable choice. However, the real-time application of these is challenging as the solution to the discretized optimization problems is numerically expensive. This paper presents a novel iterative approach to solving nonlinear optimal control problems. The authors first define the iteration formula after which the obtained equations are discretized to prepare the numerical solution, contrarily to the accessible works in the literature having reverse order. The main idea is to approximate the cost functional with a second-order expansion in each iteration step, which is then extremized to get the subsequent approximation of the optimum. In the case of nonlinear optimal control problems, the process leads to a sequence of time-variant linear-quadratic regulator (LQR) problems. The proposed technique was effectively applied to the trajectory tracking control of a flexible rotational-rotational joint (RR) manipulator. The case study showed that the initialization of the iteration is simple, and the convergence is rapid.},
	keywords = {Engineering, Mechanical},
	year = {2023},
	eissn = {1555-1423},
	orcid-numbers = {Bencsik, László/0000-0001-6921-7927}
}

@article{MTMT:33672832,
	title = {On the global dynamics of path-following control of automated passenger vehicles},
	url = {https://m2.mtmt.hu/api/publication/33672832},
	author = {Vörös, Illés and Orosz, Gábor and Takács, Dénes},
	doi = {10.1007/s11071-023-08284-2},
	journal-iso = {NONLINEAR DYNAM},
	journal = {NONLINEAR DYNAMICS},
	volume = {111},
	unique-id = {33672832},
	issn = {0924-090X},
	year = {2023},
	eissn = {1573-269X},
	pages = {8235-8252},
	orcid-numbers = {Takács, Dénes/0000-0003-1226-8613}
}

@article{MTMT:33698804,
	title = {Numerical Analysis on Shimmying Wheels with Dry Friction Damper},
	url = {https://m2.mtmt.hu/api/publication/33698804},
	author = {Horváth, Hanna Zsófia and Takács, Dénes},
	doi = {10.3311/PPme.21072},
	journal-iso = {PERIOD POLYTECH MECH ENG},
	journal = {PERIODICA POLYTECHNICA-MECHANICAL ENGINEERING},
	volume = {67},
	unique-id = {33698804},
	issn = {0324-6051},
	abstract = {The dynamics of the 1.5-degree-of-freedom model of towed wheel is investigated. Dry friction at the king pin is considered, leading to a non-smooth dynamical system. Beyond analytical and numerical linear stability analysis, the nonlinear vibrations are investigated by numerical bifurcation analysis with smoothing and by numerical simulations with event handling. The effect of dry friction at the king pin on the birth of separated periodic branches is presented on bifurcation diagrams. The presence of bistable parameter domains is also shown. The effect of smoothing is investigated by comparing bifurcation diagrams of the smoothed and the original non-smooth systems.},
	keywords = {DYNAMICS; Numerical simulation; Bifurcation analysis; Wheel shimmy; non-smooth system; dry friction damper},
	year = {2023},
	eissn = {1587-379X},
	pages = {118-126},
	orcid-numbers = {Horváth, Hanna Zsófia/0000-0002-9427-3565; Takács, Dénes/0000-0003-1226-8613}
}

@article{MTMT:33709666,
	title = {Controlling stick balancing on a linear track: Delayed state feedback or delay-compensating predictor feedback?},
	url = {https://m2.mtmt.hu/api/publication/33709666},
	author = {Nagy, Dalma and Milton, John G. and Insperger, Tamás},
	doi = {10.1007/s00422-023-00957-w},
	journal-iso = {BIOL CYBERN},
	journal = {BIOLOGICAL CYBERNETICS},
	volume = {117},
	unique-id = {33709666},
	issn = {0340-1200},
	abstract = {A planar stick balancing task was investigated using stabilometry parameters (SP); a concept initially developed to assess the stability of human postural sway. Two subject groups were investigated: 6 subjects (MD) with many days of balancing a 90 cm stick on a linear track and 25 subjects (OD) with only one day of balancing experience. The underlying mechanical model is a pendulum-cart system. Two control force models were investigated by means of numerical simulations: (1) delayed state feedback (DSF); and (2) delay-compensating predictor feedback (PF). Both models require an internal model and are subject to certainty thresholds with delayed switching. Measured and simulated time histories were compared quantitatively using a cost function in terms of some essential SPs for all subjects. Minimization of the cost function showed that the control strategy of both OD and MD subjects can better be described by DSF. The control mechanism for the MD subjects was superior in two aspects: (1) they devoted less energy to controlling the cart’s position; and (2) their perception threshold for the stick’s angular velocity was found to be smaller. Findings support the concept that when sufficient sensory information is readily available, a delay-compensating PF strategy is not necessary.},
	year = {2023},
	eissn = {1432-0770},
	pages = {113-127},
	orcid-numbers = {Nagy, Dalma/0000-0002-1162-4594; Insperger, Tamás/0000-0001-7518-9774}
}