Journal of Dynarnic Systems Measurement, and Control
VOLUME 121 , NUMBER 1 , MARCH 1999



Technical Papers

1 Lane Geometry Perception and the Characterization of lts Associated Uncertainty
Chiu-Feng Lin, A. Galip Ulsoy, and David J. LeBlanc

10 Zero Dynamics of Physical Systems From Bond Graph Models—Part l: SISO Systems
S. Y. Hliang and K. Youcef-Toumi

18 Zero Dynamics of Physical Systems From Bond Graph Models—-Part II: MIMQ Systems
S. Y. Huang and K. Youcef-Toumi

27 Vibration and Position Tracking Control of Piezoceramic-Based Smart Structures Via OFT
Seung-Bok Choi, Seung-Sang Cho, and Young-Pil Park

34 Performance Enhancement of Fixed Regulating Systems Via Actuator Saturation
Paul Herman and Matthew A. Franchek

41 Passivity-Based Versus Disturbance Observer Based Robot Control: Equivalence and
Stability
Robert Bickel and Masayoshi Tomizuka

48 Disturbance Attenuating Adaptive Controllers for Parametric Strict Feedback Nonlinear
Systems With Output Measurements
l. Egemen Tezcan and Tamer Basar

58 Verification of a Wheeied Mobile Robot Dynarnic Model and Control Ramifications
Daehie Hong, Steven A. Velinsky, and Xin Feng

64 Tracking Control of Robot Manipulator Using Sliding Mode Controller With Performance
Robustness
Chieh-Li Chen and Rui-Lin Xu

71 Identification of Linear Parameter-Varying Systems Using Nonlinear Programming
Lawton H. Lee and Kameshwar Poolla

79 Similarity and Invariance in Scaied Bilateral Telemanipulation
Michael Goldfarb

88 Dynamics of Golf Ball-Hole Interactions: Rolling Around the Rim
Mont Hubbard and Tait Smith

96 The Algorithms of the Cross-CoupIed Precompensation Method for Generating the Involute-
Type Scrolls
Jih-Hua Chin and Hu-Wai Lin

105 Boundary Control of an Axially Moving String Via Lyapunov Method
Rong-Fong Fung and Chun-Chang Tseng

111 A Spatial Mechanism for the Measurement of the Inertia Tensor: Theory and Experimental
Results
M. Da Lio, A. Dona, and R. Lot



Technical Briefs

117 Stabilization of an Axially Moving String by Nonlinear Boundary Feedback
Rong-Fong Fung, Jinn-Wen Wu, and Sheng-Luong Wu


121 Exponential Stabilization of a Wheeied Mobile Robot Via Discontinuous Control
A. Astolti

126 Tangential-Contouring Controller for Biaxial Motion Control
Chih-Ching Lo and Ching-Yei Chung

129 Robust Control for Constrained Robot Manipulators
P. Mnif, E. K. Boukas, and M. Saad

134 Vibration Control of a Flexible Structure Using ER Dampers
Seung-Bok Choi

139 Local State Covariance Assignrnent tor Stochastic Large-Scale Systems
Koan-Yuh Chang and Wen-June Wang

143 Time-Delay Sliding Mode Control for a Servo
Jong Hyeon Park and You Moo Kim

148 Neural Network Dased Tracking Gontrol of Mechanical Systems
T. Efrati and H. Flashner

Announcements

33 Transactions Change of Address Form

87 Announcement—American Control Conference

Journal of
Dynamic Systems,

Measurement,
and Control

Published Quarterly by The American Society of Mechanical Engineers
VOL121, NO. 2, JUN 1999

Technical Papers

157 A Dynamic Model for Condition Monitoring of a High-Power CO2 Industerial laser
J. F. Tu, J. G. Katter, Jr. L. E. Monacelll, and M. Oarfawr

165 Generalized Optimal Zero Phase Error Tracking Controller Design
Manabu Yamada, Yasuyuki Punahashi, and Zaier Riadh

171 Optimal Design of a Vibration Isolation Mount Using Physical Programming
Bruce H. Wilson, Cem Erin, and Achille Mesaac

179 On Transmission Zeros of Mass-Dashpot-Spring Systems

Jong-Lick Lin

184 On the Limitations of Force Tracking Control for Hydraulic Servosystems

Andrew Alleyne and Rui Uu

191 A Worst-Case Evaluation Method for Dynamic Systems
Wen-Hou Ma and Huel Peng

200 Control of Sensory Perception in Discrete Event Systems Using Stochastic Dynamic
Programming
0. E. Hoviand and B. J. McCarragher

206 On-Off Control With Specified Fuel Usage
William Singhose, Tarunraj Singh, and Warren Seering

213 Minimum Time Trajectory Optimization and Learning
N. Sadegh and B. Driessen

218 Robust Disturbance Rejection for Left-InvertiUe Linear Systems With Nonllnear-UncortaIn
Structure
P. N. Koumboulis and M. Q. Skarpetis

226 Robust LTV Feedback Synthesis for Nonlinear MIMO Plants

OdedYaniv

233 Dynamic Modeling of Capsule Separator for Control of Hydraulic Capsule Pipelines

Hongllu Du and Satish S. Nair

242 An Approach to Control Input Shaping With Application to Coordinate Measuring Machines

Steven D. Jones and A. Galip Ulsoy

248 Dynamics of Systems That Include Wings in Autorotation

D. Seter and A. Rosen

255 A Study on Sliding Mode State Eftimation
JIn-Hee Chol, Eduardo A. Misawa, and Qaiy E. Young

261 Robust Tracking Control of a Direct Drive Robot
Bong Soo Kang, Soo Hyun Kirn, Yoon Keun Kwak, and Cralg C. Smith

270 Hybrid Modeling for Mechanical Systems: Methodologies and Applications
I. H. J. Ploemen and M. J. G. van de Molengraft

278 Reduction of Limit Cycle Amplitude In the Presence of Backlash

Ronen Boneh and Oded Yaniv

285 Perfonnance Improvement of Industrial Robot Trajectory Tracking Using Adaptive-Learning
Scheme
Dong Sun and James K. Mills

293 Joint Impedance Pneumatic Control for Multilink Systems

P. Gorce and M. Guihanj

(Contente continued on Inside Back Cover)

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