Nonlinear Control

Energy-Based Control Design

Kinetic and potential energy shaping can expand the performance envelope for mechanical systems, such as vehicles.

• "Cross-track control of a slender, underactuated AUV using potential shaping," C. A. Woolsey and L. Techy. Ocean Engineering: Special Issue on AUVs Vol. 36, No. 1, pp. 82-91, January 2009.
• "Controlled Lagrangian systems with gyroscopic forcing and dissipation," C. Woolsey, C. K. Reddy, A. M. Bloch, D. E. Chang, N. E. Leonard, and J. E. Marsden. European Journal of Control (Special Issue on Lagrangian and Hamiltonian Methods for Nonlinear Control) Vol. 10, No. 5, pp. 478-496, December 2004.

Motion Planning and Control in Wind or Currents

In many applications, a vehicle or vehicle network must plan and execute motions in a significant flow. If the flow field is known, the information can be used to improve speed or efficiency. Sometimes, the flow must be identified from data.

• "Minimum-time path planning for unmanned aerial vehicles in steady uniform winds," L. Techy and C. A. Woolsey. AIAA Journal of Guidance, Control, and Dynamics, Vol. 32, No. 6, pp. 1736-1746, November-December 2009.
• "Planar flow model identification for improved navigation of small AUVs," J. Petrich, C. A. Woolsey, and D. J. Stilwell. Ocean Engineering: Special Issue on AUVs, Vol. 36, No. 1, pp. 119-131, January 2009.