TY - JOUR AU - Bártfai, András AU - Vörös, Illés AU - Takács, Dénes TI - Stability analysis of a digital hierarchical steering controller of autonomous vehicles with multiple time delays JF - JOURNAL OF VIBRATION AND CONTROL J2 - J VIB CONTROL VL - 30 PY - 2024 IS - 1-2 SP - 330 EP - 341 PG - 12 SN - 1077-5463 DO - 10.1177/10775463221146624 UR - https://m2.mtmt.hu/api/publication/33555101 ID - 33555101 AB - 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. LA - English DB - MTMT ER - TY - CHAP AU - Köpeczi-Bócz, Ákos Tamás AU - Sykora, Henrik Tamás AU - Takács, Dénes ED - Lacarbonara, Walter TI - Data-driven delay identification with SINDy T2 - Advances in Nonlinear Dynamics, Volume III PB - Springer CY - Cham SN - 9783031506352 T3 - NODYCON Conference Proceedings Series, ISSN 2730-7689 PY - 2024 SP - 481 EP - 491 PG - 11 DO - 10.1007/978-3-031-50635-2_45 UR - https://m2.mtmt.hu/api/publication/33755058 ID - 33755058 LA - English DB - MTMT ER - TY - JOUR AU - Balogh, Tamás AU - Insperger, Tamás TI - Extending the admissible control-loop delays for the inverted pendulum by fractional-order proportional-derivative controller JF - JOURNAL OF VIBRATION AND CONTROL J2 - J VIB CONTROL VL - 30 PY - 2024 IS - 11-12 SP - 2596 EP - 2604 PG - 9 SN - 1077-5463 DO - 10.1177/10775463231181662 UR - https://m2.mtmt.hu/api/publication/34040356 ID - 34040356 N1 - Funding text: The author(s) disclosed receipt of the following financial supportfor the research, authorship, and/or publication of this article: The research reported in this paper has been supported by Project no.TKP-9-8/PALY-2021 provided by the Ministry of Culture and Innovation of Hungary from the National Research, Developmentand Innovation Fund,financed under the TKP2021-EGA funding scheme, by the Nemzeti Kutatasi Fejlesztesies Innovacios Hivatal(Grant nos. NKFI-K138621 and BME-NVA-02) and by the UNKP-22-3-II-BME-98 New National Excellence Program of the Ministry for Culture and Innovation from the source of theNemzeti Kutatasi Fejlesztesies Innovacios Hivatal. AB - 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. LA - English DB - MTMT ER - TY - JOUR AU - Cao, X. AU - Bui, D.C. AU - Takács, Dénes AU - Orosz, Gábor TI - Autonomous unicycle: modeling, dynamics, and control JF - MULTIBODY SYSTEM DYNAMICS J2 - MULTIBODY SYST DYN VL - 61 PY - 2024 IS - 1 SP - 43 EP - 76 PG - 34 SN - 1384-5640 DO - 10.1007/s11044-023-09923-7 UR - https://m2.mtmt.hu/api/publication/34077846 ID - 34077846 N1 - Correspondence Address: Orosz, G.; Department of Mechanical Engineering, United States; email: orosz@umich.edu LA - English DB - MTMT ER - TY - JOUR AU - Szaksz, Bence Máté AU - Stépán, Gábor AU - Habib, Giuseppe TI - Dynamical integrity estimation in time delayed systems: A rapid iterative algorithm JF - JOURNAL OF SOUND AND VIBRATION J2 - J SOUND VIB VL - 571 PY - 2024 PG - 16 SN - 0022-460X DO - 10.1016/j.jsv.2023.118045 UR - https://m2.mtmt.hu/api/publication/34167992 ID - 34167992 LA - English DB - MTMT ER - TY - CHAP AU - Mihályi, Levente AU - Takács, Dénes ED - Lacarbonara, Walter TI - Reversing Along a Curved Path by an Autonomous Truck–Semitrailer Combination T2 - Advances in Nonlinear Dynamics, Volume II PB - Springer CY - Cham SN - 9783031506390 T3 - NODYCON Conference Proceedings Series, ISSN 2730-7689 PY - 2024 SP - 105 EP - 115 PG - 11 DO - 10.1007/978-3-031-50639-0_10 UR - https://m2.mtmt.hu/api/publication/34224098 ID - 34224098 LA - English DB - MTMT ER - TY - JOUR AU - Bodor, Bálint AU - Bencsik, László TI - Variational Principles for the Trajectory Tracking Control of Underactuated Mechanical Systems JF - JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS J2 - J COMPUT NONLIN DYN VL - 18 PY - 2023 IS - 6 PG - 10 SN - 1555-1415 DO - 10.1115/1.4056593 UR - https://m2.mtmt.hu/api/publication/33563467 ID - 33563467 N1 - Funding Agency and Grant Number: National Research, Development and Innovation Fund; [BME-NVA-02]; [TKP2021-EGA-02] Funding text: National Research, Development and Innovation Fund(Grant Nos. BME-NVA-02 and TKP2021-EGA-02; FunderID: 10.13039/100009567). AB - 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. LA - English DB - MTMT ER - TY - JOUR AU - Vörös, Illés AU - Orosz, Gábor AU - Takács, Dénes TI - On the global dynamics of path-following control of automated passenger vehicles JF - NONLINEAR DYNAMICS J2 - NONLINEAR DYNAM VL - 111 PY - 2023 SP - 8235 EP - 8252 PG - 18 SN - 0924-090X DO - 10.1007/s11071-023-08284-2 UR - https://m2.mtmt.hu/api/publication/33672832 ID - 33672832 N1 - ELKH-BME Research Group on Dynamics of Machines, Budapest, 1111, Hungary Department of Mechanical Engineering, Department of Civil and Environmental Engineering, University of Michigan, Ann Arbor, MI 48109, United States Correspondence Address: Vörös, I.; ELKH-BME Research Group on Dynamics of MachinesHungary; email: illes.voros@mm.bme.hu LA - English DB - MTMT ER - TY - JOUR AU - Horváth, Hanna Zsófia AU - Takács, Dénes TI - Numerical Analysis on Shimmying Wheels with Dry Friction Damper JF - PERIODICA POLYTECHNICA-MECHANICAL ENGINEERING J2 - PERIOD POLYTECH MECH ENG VL - 67 PY - 2023 IS - 2 SP - 118 EP - 126 PG - 9 SN - 0324-6051 DO - 10.3311/PPme.21072 UR - https://m2.mtmt.hu/api/publication/33698804 ID - 33698804 N1 - Funding Agency and Grant Number: Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences; National Research, Development and Innovation Office [NKFI-128422]; NRDI Fundd (TKP2021) under the Ministry for Innovation and Technology; Ministry for Innovation and Technology from the National Research, Development and Innovation Fund [BME-NVA-02]; [NKP-21-3]; [2020-1.2.4-TET-IPARI-2021-00012] Funding text: The research reported in this paper was partly supported by the Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences. The research carried out at BME has been supported by the National Research, Development and Innovation Office under grant no. NKFI-128422 and under grant no. 2020-1.2.4-TET-IPARI-2021-00012, as well as by the NRDI Fund (TKP2021, Project no. BME-NVA-02) based on the charter of bolster issued by the NRDI Office under the auspices of the Ministry for Innovation and Technology. Supported by the ?NKP-21-3 New National Excellence Program of the Ministry for Innovation and Technology from the source of the National Research, Development and Innovation Fund. AB - 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. LA - English DB - MTMT ER - TY - JOUR AU - Nagy, Dalma AU - Milton, John G. AU - Insperger, Tamás TI - Controlling stick balancing on a linear track: Delayed state feedback or delay-compensating predictor feedback? JF - BIOLOGICAL CYBERNETICS J2 - BIOL CYBERN VL - 117 PY - 2023 IS - 1-2 SP - 113 EP - 127 PG - 15 SN - 0340-1200 DO - 10.1007/s00422-023-00957-w UR - https://m2.mtmt.hu/api/publication/33709666 ID - 33709666 AB - 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. LA - English DB - MTMT ER -