Henri P. Gavin CV

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 Cite

Unified Position-Attitude Control of A Nonlinear Quadrotor Swarm

Conference Proceedings of the American Control Conference · January 1, 2022 In this paper, we propose a novel nonlinear feedback control law to maneuver a swarm of nonlinear quadrotors with interagent collision avoidance. In contrast to the predominant hierarchical control architectures and dynamics linearization in controller syn ... Full text Cite

Decentralized Unified Position-Attitude Control of Nonlinear UAVs

Conference Proceedings of the IEEE Conference on Decision and Control · January 1, 2022 In this paper, we propose a fully decentralized, nonlinear feedback control law to maneuver multiple nonlinear quadrotor UAVs with interagent collision avoidance and natural deadlock resolution. Most existing work on this problem adopts a cascaded position ... Full text Cite

Unified Position and Attitude Control of A Fully Nonlinear Quadrotor*

Conference Proceedings of the American Control Conference · May 25, 2021 This paper presents a departure from hierarchical cascade methods to control the position and attitude of a fully nonlinear quadrotor. The paper presents a nonlinear feedback control scheme that simultaneously controls position and attitude. The proposed m ... Full text Cite

Natural Deadlock Resolution for Multi-agent Multi-Swarm Navigation

Conference Proceedings of the IEEE Conference on Decision and Control · January 1, 2021 This paper presents a nonlinear and discontinuous control scheme for two-dimensional (2-D) multi-agent multi-swarm navigation that resolves deadlocks, without heuristics, by agents reacting purely to their constrained dynamics. The method is based on exten ... Full text Cite

Nonholonomically constrained dynamics of rolling isolation systems

Conference Conference Proceedings of the Society for Experimental Mechanics Series · January 1, 2016 Rolling Isolation Systems provide a simple and effective means for protecting components from horizontal floor vibrations. In these systems a platform rolls on four steel balls which, in turn, rest within shallow bowls. The trajectories of the balls is uni ... Full text Cite

Inelastic base shear reconstruction from sparse acceleration measurements of buildings

Conference Conference Proceedings of the Society for Experimental Mechanics Series · January 1, 2016 This paper presents a novel method for recovering base shear forces of building structures with unknown nonlinearities from sparse seismic-response measurements of floor accelerations. The method requires only direct matrix calculations (factorizations and ... Full text Cite

Subspace identification of a 5 MW reference wind turbine

Conference Conference Proceedings of the Society for Experimental Mechanics Series · January 1, 2015 Nonlinear systems, a category into which essentially all real-world engineering systems fall, are challenging in their design, response prediction, and control. Simulating their dynamic response requires numerical solvers, and the use of frequency-domain t ... Full text Cite

Seismic response of the Christchurch Women's Hopsital on 23 December 2011

Conference Ncee 2014 10th U S National Conference on Earthquake Engineering Frontiers of Earthquake Engineering · January 1, 2014 The Christchurch Women's Hospital was instrumented in September 2011 with a network of highresolution accelerometers and displacement sensors in order to capture perishable data on the response of this base-isolated facility to a persistent sequence of str ... Full text Cite

Experimental validation of a model for a rolling isolation system

Conference Ncee 2014 10th U S National Conference on Earthquake Engineering Frontiers of Earthquake Engineering · January 1, 2014 An assessment of the ability of lightly- and heavily-damped rolling isolation systems (RISs) to mitigate the hazard of seismically-induced failures requires high-fidelity models that can adequately capture the systems' intrinsic non-linear behavior. The li ... Full text Cite

Including SN-curve uncertainty in fatigue reliability analyses of wind turbines

Conference Conference Proceedings of the Society for Experimental Mechanics Series · January 1, 2014 The reliability of wind turbines with respect to fatigue loads is affected by uncertainties in dynamic load effects and the material’s resistance to the fatigue loads. The design standard published by the International Electrotechnical Commission (IEC) spe ... Full text Cite

Reliability of semi-active control devices to seismic impact

Conference ISAS/CITSA 2004: International Conference on Cybernetics and Information Technologies, Systems and Applications and 10th International Conference on Information Systems Analysis and Synthesis, Vol 4, Proceedings · January 1, 2004 Link to item Cite