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Dynamic Systems and Control Division Editor, K. HEDRICK Assistant to the Editor, M. HICKMAN Past Editors

G.ULSOV W. BOOK M. TOMIZUKA D. M. AUSLANDER J. L. SHEARER

K.N.REID

V.TAKAHASHI M. J. RABINS S. JAVASURIVA Associate Editors L. ALVAREZ(2012) E. J. BARTH (2013) S. BRENNAN(2014) N. CHALHOUB (2012) B.-C. CHANG (2012)

va. CHEN(2012) W. DIXON(2013) M. de aUEIROZ(2012) J. B. FERRIS(2014) N. JALILI(2012) W.-J. KIM(2013) R. LANDERS(2012) A. LEONESSA(2014) S. NERSESOV (2014) E. PAPADOPOULOS(2014) M. SCHOEN(2012) E. SCHUSTER(2013) N. SEPEHRI(2013) X. SONG(2012) A. STEFANOPOULOU (2012) J. TANG(2014) R.VEDAVALLI(2012) a. ZOU(2014) EXECUTIVE COMMITTEE

Chairman, E. A. MISAWA Vice Chairman, M. FRANCHEK

Secretary, G. T.-C. CHIU Members, S. S. NAIR R. HOROWITZ Past Chairman, T.-C. TSAO PUBLICATIONS COMMITTEE Chair, SHIV G. K.\POOR OFFICERS OFTHE ASME President, VICTORIA A. ROCKWELL Executive Director, THOMAS G. LOUGHLIN Treasurer, WILBUR MARNER PUBLISHING STAFF Managing Director, Publishing, P. DI VIETRO Manager, Journals, C. MCATEER Production Coordinator, A. HEWITT

Transactions of the ASME,Journal of Dynamic Systems, Measuremenl, and Control (ISSN 0022-0434) is published bimonthly (Jan., Mar., May, July, Sept., Nov.) by The American Society of Mechanical Engineers, Three Park Avenue, New York, NY 10016. Periodicals postage paid at New York, NY and additional mailing offices.

POSTMASTER: Send address changes te Transactions of the ASME, Journal of Dynamic Systems. Measurement, and Control, cio THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS, 22 Law Drive, Box 2300, Fairfield, NJ 07007-2300.

CHANGES OF ADDRESS must be received at Society headquarters seven weeks before they are 10be effective.

Please send old label and new address.

STATEMENT from By-Laws, The Society shan not be responsible for statements or opinions advanced in papers or h. prlnted in its publications (B7.1, Para. 3).

COPYRIGHT@2012 by The Amencan Society of Mechanical Englneers. For authonzatlon to photocopy material for Internai or personal use under those circumstances not falling within the fair use provisions of the Copyright Act, contact the Copyright Ciearance Center (CCC), 222 Rosewood Drive, Danvers,MA01923, tel: 978-750-8400, www.copyright.com.

Flequesl for special permission orbulkcopying should be addressed to Reprints/Permissions Department.

Canadian Goods & Services Tax Registration #126148048

Journal of

DynalDic SystelDs, MeasurelDenfr,.

and Control

Published Bimonthly byASME

Le

REÇU z 0 AUur2012

VOLUME 134 . NUMBER 4 . JULV 2012

041001

RESEARCH PAPERS

041002

041003

041004

041005

041006

041007

041008

041009

041010

041011

041012

041013

Coupling Dynamic Model and Control of Chatter in Cold Rolling Xu Yang and qhao-nan Tong

Obtaining Frequency-Domain Volterra Models From Port-Based Ordinary Differentiai Equations

Eliot Motato and Clark Radcliffe

Hybrid Fuzzy Skyhook Surface Control Using Multi-Objective Microgenetic Aigorithm for Semi-Active Vehicle Suspension System Ride Comfort Stability Analysis

Yi Chen, Zhong-Lai Wang, Jing Qiu, and Hong-Zhong Huang Modeling, Force Sensing, and Control of Flexible Cannulas for Microstent Delivery

Wei Wei and Nabil Simaan

Fault Detection and Isolation of Nonlinear Systems: An Unknown Input Observer Approach With Sum-of-Squares Techniques

Jun Xu, Kai-YewLum, Lihua Xie,and Ai-Poh Loh

Semiglobal Stabilization for Nonholonomic MobileRobots Based on Dynamic Feedback With Inputs Saturation

Hua Chen, Chaoli Wang, Liu Yang, and Dongkai Zhang Synchronization Control for a Class of Underactuated Mechanical Systems via Energy Shaping

Dongfang Zhu, DiZhou, Jingyang Zhou, and Kok Lay Teo Adaptive General Predictive Control Using OptimallyScheduied MultipleModels for Parallel-Coursing UtilityUnits With a Header

Lei Pan, Jiong Shen, and Peter B. Luh

Optimal Energy Use in a Light Weight Hydraulic Hybrid passenger Vehicle

Timothy O. Deppen, Andrew G. Alleyne, KimA. Stelson, and Jonathan J. Meyer

Optimal Parameter Estimation for Long-Term Prediction in the Presence of Model Mismatch

Ryan Sangjun Lee, Gregery T. Buzzard, and Peter H. Meckl Consensus and Consensualization of High-Order Swarm Systems

ith Time Delays and External Disturbances Jianxiang Xi,Zongymg

Persistence Filters for Estimation: Applications to Control in Shared-Sensing Reversible Transducer Systems

Srikant Sukumar and MaruthiR.Akella

Distributed Supervisory Controller Design for Battery Swapping Modularity in Plug-In Hybrid Electric Vehicles

Shifang Li, lIyaV. Kolmanovsky, and A. Galip Uisoy

(Contents continued on inside back cover)

This journal is printed on acid-'ree paper, which exceeds the ANSIZ39.48- 1992 specification for permanence of paper and library materials. @>n'

@ 85% recycled content, including 10% post-consumer 'ibers.

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