Overview
Our group works in the broad area of dynamic systems analysis, modeling, measurement, and control with particular emphasis on the mitigation of losses induced by extreme environmental loads.
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Current Appointments & Affiliations
Professor in the Department of Civil and Environmental Engineering
·
2016 - Present
Civil and Environmental Engineering,
Pratt School of Engineering
W. H. Gardner, Jr. Chair of the Department of Civil and Environmental Engineering
·
2021 - Present
Civil and Environmental Engineering,
Pratt School of Engineering
Professor in the Thomas Lord Department of Mechanical Engineering and Materials Science
·
2022 - Present
Thomas Lord Department of Mechanical Engineering and Materials Science,
Pratt School of Engineering
Bass Fellow
·
2016 - Present
Civil and Environmental Engineering,
Pratt School of Engineering
Recent Publications
Computationally Efficient Tracking Control of Differential Drive Wheeled Mobile Robots
Conference Proceedings of the American Control Conference · January 1, 2023 This paper presents a computationally efficient, heuristic-free, and nonlinear feedback control framework for the tracking control of the position and orientation of a differential drive wheeled mobile robot (WMR) subjected to high-speed maneuvers and exte ... Full text CiteDecentralized Control of Multiagent Navigation Systems
Journal Article IEEE/CAA Journal of Automatica Sinica · May 1, 2022 In this letter, we introduce a decentralized, nonlinear, discontinuous, and computationally simple control law for large scale multiagent navigation systems. The control is based on extending Gauss's principle of least constraint with a dynamic incorporati ... Full text CiteGauss's Principle with Inequality Constraints for Multiagent Navigation and Control
Journal Article IEEE Transactions on Automatic Control · February 1, 2022 Multiagent navigation systems present opportunities for many applications due to their agility and cooperation. In any multiagent navigation system, it is critical that actual interagent collisions are strictly prevented. In this article, we present a solu ... Full text CiteRecent Grants
Relaxed Constraints in Gauss's Principle for High Speed, Large Scale, Multi-Agent Network Dynamics
ResearchPrincipal Investigator · Awarded by Army Research Office · 2019 - 2020Rolling Isolation Systems to Protect Building Contents from Earthquakes
ResearchPrincipal Investigator · Awarded by National Science Foundation · 2014 - 2018Collaborative Research: A Distributed Approximate Dynamic Programming (ADP) Approach for Robust Adaptive Control of Multiscale Dynamical Systems
ResearchCo-Principal Investigator · Awarded by National Science Foundation · 2014 - 2017View All Grants
Education, Training & Certifications
University of Michigan, Ann Arbor ·
1994
Ph.D.
University of Michigan, Ann Arbor ·
1988
M.Sc.Eng.
Princeton University ·
1986
B.S.E.