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Journal Articles

Risk-Bounded and Probabilistic Roadmap-Based Motion Planner for Arbitrarily Shaped Robots With Uncertainty

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Ronnie F. P. Stone, Junmin Wang, Zhenghui Sha
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Research Papers
J. Comput. Inf. Sci. Eng. August 2025, 25(8): 081002.
Paper No: JCISE-24-1471
https://doi.org/10.1115/1.4068407
Published Online: May 7, 2025
View Articletitled, Risk-Bounded and Probabilistic Roadmap-Based Motion Planner for Arbitrarily Shaped Robots With Uncertainty
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Topics: Path planning, Probability, Risk, Robots, Uncertainty, Collisions (Physics)
Journal Articles

Immersion and Invariance Adaptive Control Through Polynomial Adaptation

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Xingyu Zhou, Hyunjin Ahn, Heran Shen, Yung-Chi Kung, Junmin Wang
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2024, 4(4): 041008.
Paper No: ALDSC-24-1022
https://doi.org/10.1115/1.4066463
Published Online: October 3, 2024
View Articletitled, Immersion and Invariance Adaptive Control Through Polynomial Adaptation
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Topics: Adaptive control, Design, Errors, Polynomials, Manifolds, Control equipment, Stability, Transients (Dynamics), Signals
Journal Articles

Velocity and Energy Consumption Prediction of Medium-Duty Electric Trucks Considering Road Features and Traffic Conditions

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Hyunjin Ahn, Heran Shen, Xingyu Zhou, Yung-Chi Kung, John Maweu, Junmin Wang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2024, 146(6): 061101.
Paper No: DS-23-1324
https://doi.org/10.1115/1.4065595
Published Online: June 6, 2024
View Articletitled, Velocity and Energy Consumption Prediction of Medium-Duty Electric Trucks Considering Road Features and Traffic Conditions
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Topics: Energy consumption, Roads, Traffic, Vehicles, Trucks
Journal Articles

State of Charge Estimation of Lithium-Ion Batteries Using Physics-Informed Transformer for Limited Data Scenarios

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Hyunjin Ahn, Heran Shen, Xingyu Zhou, Yung-Chi Kung, Junmin Wang
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2023, 3(4): 041002.
Paper No: ALDSC-23-1037
https://doi.org/10.1115/1.4063995
Published Online: December 7, 2023
View Articletitled, State of Charge Estimation of Lithium-Ion Batteries Using Physics-Informed Transformer for Limited Data Scenarios
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Topics: Artificial neural networks, Batteries, Cycles, Dynamics (Mechanics), Electrolytes, Errors, Lithium-ion batteries, Particulate matter, Physics, Temperature
Journal Articles

Adaptive Artificial Neural Network-Based Control Through Attracting-Manifold Design and Lipschitz Constant Projection

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Xingyu Zhou, John Maweu, Junmin Wang
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2023, 3(2): 021006.
Paper No: ALDSC-23-1017
https://doi.org/10.1115/1.4063474
Published Online: October 25, 2023
View Articletitled, Adaptive Artificial Neural Network-Based Control Through Attracting-Manifold Design and Lipschitz Constant Projection
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Topics: Adaptive control, Artificial neural networks, Design, Dynamics (Mechanics), Manifolds, Stability, Control equipment, Robustness
Journal Articles

Systematic Synthesis of a Class of Smooth Parameter Projection Operators for Stable Adaptive Systems

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Xingyu Zhou, Zejiang Wang, Heran Shen, Junmin Wang
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2022, 2(3): 031009.
Paper No: ALDSC-22-1010
https://doi.org/10.1115/1.4055082
Published Online: August 8, 2022
View Articletitled, Systematic Synthesis of a Class of Smooth Parameter Projection Operators for Stable Adaptive Systems
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Topics: Adaptive control, Simulation, Stability, Construction
Journal Articles

A Mixed L 1 / H 2 Robust Observer With An Application To Driver Steering Torque Estimation for Autopilot-Human Shared Steering

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Xingyu Zhou, Zejiang Wang, Heran Shen, Junmin Wang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2022, 144(7): 071007.
Paper No: DS-21-1287
https://doi.org/10.1115/1.4054262
Published Online: April 28, 2022
View Articletitled, A Mixed L 1 / H 2 Robust Observer With An Application To Driver Steering Torque Estimation for Autopilot-Human Shared Steering
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Topics: Errors, Torque, Wire, Noise (Sound), Sensors, Autopilots, Dynamics (Mechanics)
Journal Articles

Algebraic Driver Steering Model Parameter Identification

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Zejiang Wang, Xingyu Zhou, Heran Shen, Junmin Wang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. May 2022, 144(5): 051006.
Paper No: DS-21-1254
https://doi.org/10.1115/1.4053431
Published Online: February 21, 2022
View Articletitled, Algebraic Driver Steering Model Parameter Identification
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Topics: Algebra, Steering wheels, Feedback, Feedforward control, Roads
Journal Articles

Yaw-Rate-Tracking-Based Automated Vehicle Path Following: An MRAC Methodology With a Closed-Loop Reference Model

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Xingyu Zhou, Zejiang Wang, Heran Shen, Junmin Wang
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2022, 2(2): 021010.
Paper No: ALDSC-21-1035
https://doi.org/10.1115/1.4053242
Published Online: December 30, 2021
View Articletitled, Yaw-Rate-Tracking-Based Automated Vehicle Path Following: An MRAC Methodology With a Closed-Loop Reference Model
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Topics: Autonomous vehicles, Vehicles, Yaw, Errors, Design, Control equipment, Adaptive control, Transients (Dynamics), Stability, Dynamics (Mechanics)
Proceedings Papers

Should Adaptive Cruise Control (ACC) Systems Be Designed to Maintain a Constant Time-Gap Between Vehicles?

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Junmin Wang, Rajesh Rajamani
Proc. ASME. IMECE2001, Dynamic Systems and Control, 275-283, November 11–16, 2001
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2001/DSC-24534
https://doi.org/10.1115/IMECE2001/DSC-24534
View Paper titled, Should Adaptive Cruise Control (ACC) Systems Be Designed to Maintain a Constant Time-Gap Between Vehicles?
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Topics: Vehicles, Traffic, Stability, Flow (Dynamics), Boundary-value problems, Design, Highways, Simulation results
Journal Articles

Popov- H ∞ Robust Path-Tracking Control of Autonomous Ground Vehicles With Consideration of Sector-Bounded Kinematic Nonlinearity

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Xingyu Zhou, Zejiang Wang, Junmin Wang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. November 2021, 143(11): 111004.
Paper No: DS-20-1509
https://doi.org/10.1115/1.4051466
Published Online: July 9, 2021
View Articletitled, Popov- H ∞ Robust Path-Tracking Control of Autonomous Ground Vehicles With Consideration of Sector-Bounded Kinematic Nonlinearity
Open the PDF for Popov- H ∞ Robust Path-Tracking Control of Autonomous Ground Vehicles With Consideration of Sector-Bounded Kinematic Nonlinearity in another window
Topics: Control equipment, Errors, Kinematics, Pole placement, Vehicles, Stability, Simulation, Gain scheduling
Journal Articles

Design, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm Via Shape Morphing Mechanisms

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Yu She, Zhaoyuan Gu, Siyang Song, Hai-Jun Su, Junmin Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031020.
Paper No: JMR-20-1447
https://doi.org/10.1115/1.4050379
Published Online: March 26, 2021
View Articletitled, Design, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm Via Shape Morphing Mechanisms
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Topics: Cables, Design, Shapes, Stiffness, Modeling, Robots
Proceedings Papers

Real-Time Driver Model Parameter Identification: An Algebraic Approach

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Zejiang Wang, Junmin Wang
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T02A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3113
https://doi.org/10.1115/DSCC2020-3113
View Paper titled, Real-Time Driver Model Parameter Identification: An Algebraic Approach
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Topics: Algebra
Proceedings Papers

A Lateral Motion Planning Method for Automated Vehicles Based on Sinusoids

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Wei Wang, Zejiang Wang, Xinbo Chen, Junmin Wang
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T02A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3115
https://doi.org/10.1115/DSCC2020-3115
View Paper titled, A Lateral Motion Planning Method for Automated Vehicles Based on Sinusoids
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Topics: Autonomous vehicles, Path planning
Proceedings Papers

Adaptive Equivalent Factors of Multi-Objective Energy Management for Fuel Cell Hybrid Electric Vehicles

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Yan Ma, Jian Chen, Junmin Wang
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T19A002, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3145
https://doi.org/10.1115/DSCC2020-3145
View Paper titled, Adaptive Equivalent Factors of Multi-Objective Energy Management for Fuel Cell Hybrid Electric Vehicles
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Topics: Energy management, Fuel cells, Hybrid electric vehicles, Corporate average fuel economy, Durability, Fuel efficiency, Cycles, Hydrogen, Kalman filters, Pareto optimization
Proceedings Papers

A Continuously Tunable Stiffness Arm With Cable-Driven Mechanisms for Safe Physical Human-Robot Interaction

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Yu She, Zhaoyuan Gu, Siyang Song, Hai-Jun Su, Junmin Wang
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A060, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22035
https://doi.org/10.1115/DETC2020-22035
View Paper titled, A Continuously Tunable Stiffness Arm With Cable-Driven Mechanisms for Safe Physical Human-Robot Interaction
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Topics: Cables, Human-robot interaction, Stiffness, Robotics, Design, Safety, Actuators, Additive manufacturing, Modeling, Robots
Journal Articles

Incremental Model Predictive Control of Active Suspensions With Estimated Road Preview Information From a Lead Vehicle

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Siyang Song, Junmin Wang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. December 2020, 142(12): 121004.
Paper No: DS-20-1045
https://doi.org/10.1115/1.4047962
Published Online: August 28, 2020
View Articletitled, Incremental Model Predictive Control of Active Suspensions With Estimated Road Preview Information From a Lead Vehicle
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Topics: Control equipment, Predictive control, Roads, Vehicles, Sensors, Design
Journal Articles

Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots

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Siyang Song, Yu She, Junmin Wang, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2020, 12(5): 054503.
Paper No: JMR-19-1499
https://doi.org/10.1115/1.4046839
Published Online: May 11, 2020
View Articletitled, Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots
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Topics: Design, Optimization, Robots, Stiffness
Journal Articles

Impaired Driver Assistance Control With Gain-Scheduling Composite Nonlinear Feedback for Vehicle Trajectory Tracking

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Yimin Chen, Chuan Hu, Junmin Wang
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. July 2020, 142(7): 071003.
Paper No: DS-19-1240
https://doi.org/10.1115/1.4046339
Published Online: March 11, 2020
View Articletitled, Impaired Driver Assistance Control With Gain-Scheduling Composite Nonlinear Feedback for Vehicle Trajectory Tracking
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Topics: Composite materials, Control equipment, Feedback, Gain scheduling, Uncertainty, Vehicles, Trajectories (Physics)
Journal Articles

A Comparative Study on the Effect of Mechanical Compliance for a Safe Physical Human–Robot Interaction

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Yu She, Siyang Song, Hai-Jun Su, Junmin Wang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2020, 142(6): 063305.
Paper No: MD-19-1343
https://doi.org/10.1115/1.4046068
Published Online: March 3, 2020
View Articletitled, A Comparative Study on the Effect of Mechanical Compliance for a Safe Physical Human–Robot Interaction
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Topics: Design, Engines, Human-robot interaction, Motors, Robots, Simulation, Stiffness, Safety, Robotics, Torque