Yuh Shyang Wang

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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)
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)
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)
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)
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)
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)