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- Fan-Tien Cheng, Tsing-Hua Chen, Yuh Shyang Wang, York-Yih Sun
- ICRA
- 1993

In this paper, the Compact QP (Quadratic Programming) method is proposed to resolve the obstacle avoidance problem for a redundant manipulator. Moreover, the drift-free criterion is also considered when a redundant manipulator performs a repeated motion. Due to the computational eficiency and versatility of the Compact QP method, real-time implementation is… (More)

State of charge (SoC) estimation is a fundamental challenge in designing battery management systems. An adaptive SoC estimator, named as the AdaptSoC, is developed in this paper. It is able to estimate the SoC when the model parameters are unknown, through joint SoC and parameter estimation. Design of the AdaptSoC builds up on (1) a reduced complexity… (More)

This paper proposes a novel parameter identification method for model-based condition monitoring of lithium-ion batteries. A fast UD factorization-based recursive least square (FUDRLS) algorithm is developed for identifying time-varying electrical parameters of a battery model. The proposed algorithm can be used for online state of charge, state of health… (More)

- Huazhen Fang, Xin Zhao, +4 authors Raymond A. de Callafon
- ACC
- 2014

Monitoring the state-of-charge (SoC) for batteries is challenging, especially when a battery has time-varying parameters. We propose to improve SoC estimation using an adaptive strategy and multiple models in this study, developing a unique algorithm called MM-AdaSoC. Specifically, two submodels in state-space form are generated from a modified Nernst… (More)

- Yu Jiang, Yebin Wang, Scott A. Bortoff, Zhong-Ping Jiang
- IEEE Transactions on Neural Networks and Learning…
- 2015

This brief studies the optimal codesign of nonlinear control systems: simultaneous design of physical plants and related optimal control policies. Nonlinearity of the optimal codesign problem could come from either a nonquadratic cost function or the plant. After formulating the optimal codesign into a nonconvex optimization problem, an iterative scheme is… (More)

- Yebin Wang, Yiming Zhao, Scott A. Bortoff, Koichiro Ueda
- IEEE Trans. Industrial Electronics
- 2015

This paper considers real-time energy-optimal trajectory generation for a servomotor system which performs a single-axis point-to-point positioning task for a fixed time interval. The servomotor system is subject to acceleration and speed constraints. The trajectory generation is formulated as a linear constrained optimal control problem (LCOCP), and the… (More)

- Yuh Shyang Wang, Nikolai Matni, John Doyle
- CDC
- 2014

This paper introduces a receding horizon like control scheme for localizable distributed systems, in which the effect of each local disturbance is limited spatially and temporally. We characterize such systems by a set of linear equality constraints, and show that the resulting feasibility test can be solved in a localized and distributed way. We also show… (More)

- Yebin Wang, Alan F. Lynch
- IEEE Trans. Automat. Contr.
- 2006

This note reconsiders existence conditions for an established block triangular form (BTF) for a broad class of multi-output nonlinear systems. Systems transformable into BTF coordinates allow for decentralized observer design performed subsystem-at-a-time effectively treating upper subsystem states as measurements. Sufficient conditions are given to ensure… (More)

State of charge (SoC) estimation is of key importance in the design of battery management systems. An adaptive SoC estimator, which is named AdaptSoC, is developed in this paper. It is able to estimate the SoC in real time when the model parameters are unknown, via joint state (SoC) and parameter estimation. The AdaptSoC algorithm is designed on the basis… (More)

- Yuh Shyang Wang, Nikolai Matni
- ACC
- 2016

This paper poses and solves the localized linear quadratic Gaussian (LLQG) optimal control problem. In particular, we show that for large-scale localizable systems, that is to say systems for which the closed loop effect of each disturbance can be contained to within a local neighborhood despite communication delays between sub-controllers, the synthesis… (More)