Feedback control related work « Kam K. Leang Research

57.

N. R. Olsen; S. M. McKee; O. S. Haddadin; S. M. Lyon; J. E. Campbell; K. K. Leang

Information-Theoretic Bayesian Inference for Multi-Agent Localization and Tracking of an RF Target with Unknown Waveform Journal Article

In: ASME J. Dyn. Syst. Meas. and Cont., Special Issue on Data-Driven Modeling and Control of Dynamical Systems (https://doi.org/10.1115/1.4066453), vol. 146, iss. 6, pp. 061104, 2024.

Abstract | Links | BibTeX

56.

D. Y. Abramovitch, S. Andersson, K. K. Leang, W. S. Nagel; S. Ruben

A Tutorial on Real-Time Computing Issues for Control Systems Proceedings Article

In: American Control Conference, San Diego, CA, May 31-June 2, 2023.

Abstract | BibTeX

55.

W. S. Nagel, S. Andersson, G. Clayton; K. K. Leang

Low-Coupling Hybrid Parallel-Serial-Kinematic Nanopositioner with Nonorthogonal Flexure: Nonlinear Design and Control Journal Article

In: IEEE/ASME Transactions on Mechatronics, vol. 27, iss. 5, pp. 3683-3693, 2022.

Abstract | BibTeX

@article{NagelWS_2022_Tmech,

title = {Low-Coupling Hybrid Parallel-Serial-Kinematic Nanopositioner with Nonorthogonal Flexure: Nonlinear Design and Control},

author = {W. S. Nagel, S. Andersson, G. Clayton and K. K. Leang},

year  = {2022},

date = {2022-10-01},

urldate = {2021-11-18},

journal = {IEEE/ASME Transactions on Mechatronics},

volume = {27},

issue = {5},

pages = {3683-3693},

abstract = {This article focuses on the design and high-precision control of a new dual-stage, three-axis hybrid parallel-serial-kinematic nanopositioner developed specifically for feature-tracking applications with arbitrary scanning directions. Dual-actuation is achieved by integrating a three-axis shear piezoelectric actuator into the large-range planar stage. A novel nonorthogonal compliant motion-amplifying mechanism which reorients the lateral sample-platform displacement to align with the principal directions of the input piezoactuators is used to minimize parasitic (coupling) motion. A nonlinear rigid-link model and finite element analysis (FEA) are used to optimize over the orientation parameter during the design process. A prototype stage is manufactured and tested, and the lateral and vertical travel ranges are approximately 18 × 21 and 1 μ m, respectively, with secondary lateral actuation in the range of 1 × 1 μ m. Coupling in the long-range stage is below -31 dB for both axes, an estimated 51 to 86% reduction compared to a traditional perpendicular-mechanism design. The measured dominant resonances for the lateral directions of the long-range stage are approximately 1.4 kHz, while short-range positioner resonances are approximately 11 and 40 kHz for the lateral and vertical directions, respectively. The design of a new feedforward-feedback controller is described, and the controller is implemented with field-programmable gate array (FPGA) hardware, where individual actuator contributions are intuitively determined by shaping the frequency response of their relative and summed displacements. An inverse hysteresis operator is used to linearize the plant behavior for effective motion control. Experimental tracking and atomic force microscopy (AFM) imaging results are presented to demonstrate the performance of the new mechanical and control system designs.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

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54.

William Nagel, Aleksandra Mitrovic, Garrett Clayton, Kam K. Leang

Discrete Input-Output Sliding-Mode Control with Range Compensation: Application in High-Speed Nanopositioning Proceedings Article

In: American Control Conference, June 8-11, 2022.

BibTeX

53.

W. S. Nagel

Long-Range Low-Coupling Dual-Stage Nanopositioning: Design and Control for High-Speed Atomic Force Microscopy PhD Thesis

2022.

BibTeX

52.

A. Mitrovic, W. S. Nagel, K. K. Leang; G. M. Clayton

Closed-loop Range-Based Control of Dual-Stage Nanopositioning Systems Journal Article

In: IEEE/ASME Transactions on Mechatronics, vol. 26, iss. 3, pp. 1412-1421, 2021.

Abstract | Links | BibTeX

51.

S. Devasia, M. Grover; K. K. Leang

The American Control Conference [Conference report] Journal Article

In: IEEE Control Systems Magazine, vol. 41, no. 1, pp. 82-86, 2021.

BibTeX

50.

J. R. Bourne, M. Goodell, X. He, J. Steiner; K. K. Leang

Decentralized Multi-Agent Information-Theoretic Control for Target Estimation and Localization: Finding Chemical Leaks Journal Article

In: International Journal of Robotics Research, vol. 39, no. 13, pp. 1525 - 1548, 2020.

Links | BibTeX

49.

D. Guo; K. K. Leang

Image-based Estimation, Planning, and Control for High-speed Flying through Multiple Openings Journal Article

In: International Journal of Robotics Research, Vol. 39, No. 9, pp. 122-1137, 2020, 2020.

Links | BibTeX

48.

Joseph R. Bourne

Decentralized multi-agent information theoretic target localization and estimation: finding and predicting chemical gas leaks PhD Thesis

University of Utah, 2020.

Abstract | BibTeX

@phdthesis{BourneJR_2020b,

title = {Decentralized multi-agent information theoretic target localization and estimation: finding and predicting chemical gas leaks},

author = {Joseph R. Bourne},

year  = {2020},

date = {2020-06-13},

urldate = {2020-06-13},

school = {University of Utah},

abstract = {The goal of this dissertation is to quickly and autonomously localize and estimate an unknown target, such as a chemical leak, using a team of mobile robots. Accidental or malicious release of chemical, biological, radiological, nuclear, or explosive (CBRNE) substances can have devastating effects on humans, animals, infrastructure, and the environment.  Thus, fast and accurate localization and estimation of a contaminant release are crucial to saving lives and minimizing damage. To achieve the goal, stochastic estimation and motion planning algorithms are developed, where the performance of two distinct methods for coordinating the mobile robot team are studied. First, a new non-parametric Bayesian-based motion planning algorithm for autonomous plume source term estimation (STE) and source seeking (SS) is developed. Robots coordinate their movements by parsing the belief into multiple modes and they investigate these modes through model-based bio-inspired SS actions. Simulation and experimental results show consistently that the coordinated Bayesian-based STE and SS algorithm outperforms traditional bio-inspired SS and raster-scanning methods, where performance is approximately twice as fast as the uncoordinated case. Second, a new decentralized multi-agent information-theoretic (De-

MAIT) control algorithm that leverages Bayesian estimation and guides robots to minimize uncertainty is developed. The algorithm consists of: (1) a non-parametric Bayesian estimator,

(2) an information-theoretic trajectory planner that generates “informative trajectories” for an agent to follow, and (3) a controller and collision avoidance algorithm that ensure agents follow the trajectory as closely as possible in a safe manner. Simulation results show that the DeMAIT algorithm’s average localization success rate is higher and more robust to changes in the source location, robot team size, and search area size, compared to the coordinated bio-inspired method. Outdoor field experiments are conducted using a team of custom-built aerial robots equipped with gas concentration sensors to estimate and find the source of a propane gas leak to demonstrate efficacy of the DeMAIT algorithm.},

keywords = {},

pubstate = {published},

tppubtype = {phdthesis}

}

Close

The goal of this dissertation is to quickly and autonomously localize and estimate an unknown target, such as a chemical leak, using a team of mobile robots. Accidental or malicious release of chemical, biological, radiological, nuclear, or explosive (CBRNE) substances can have devastating effects on humans, animals, infrastructure, and the environment. Thus, fast and accurate localization and estimation of a contaminant release are crucial to saving lives and minimizing damage. To achieve the goal, stochastic estimation and motion planning algorithms are developed, where the performance of two distinct methods for coordinating the mobile robot team are studied. First, a new non-parametric Bayesian-based motion planning algorithm for autonomous plume source term estimation (STE) and source seeking (SS) is developed. Robots coordinate their movements by parsing the belief into multiple modes and they investigate these modes through model-based bio-inspired SS actions. Simulation and experimental results show consistently that the coordinated Bayesian-based STE and SS algorithm outperforms traditional bio-inspired SS and raster-scanning methods, where performance is approximately twice as fast as the uncoordinated case. Second, a new decentralized multi-agent information-theoretic (De-
MAIT) control algorithm that leverages Bayesian estimation and guides robots to minimize uncertainty is developed. The algorithm consists of: (1) a non-parametric Bayesian estimator,
(2) an information-theoretic trajectory planner that generates “informative trajectories” for an agent to follow, and (3) a controller and collision avoidance algorithm that ensure agents follow the trajectory as closely as possible in a safe manner. Simulation results show that the DeMAIT algorithm’s average localization success rate is higher and more robust to changes in the source location, robot team size, and search area size, compared to the coordinated bio-inspired method. Outdoor field experiments are conducted using a team of custom-built aerial robots equipped with gas concentration sensors to estimate and find the source of a propane gas leak to demonstrate efficacy of the DeMAIT algorithm.

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47.

A. Mitrovic, K. K. Leang; G. M. Clayton

Analysis and Experimental Comparison of Range-based Control for Dual-Stage Nanopositioners Journal Article

In: Mechatronics, Vol. 69, pp. 102371, 2020, 2020.

Links | BibTeX

46.

D. Guo; K. K. Leang

Image-Based Estimation, Planning, and Control of Cable-Suspended Payload for Package Delivery Journal Article

In: IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2698-2705, 2020.

Links | BibTeX

45.

W. S. Nagel; K. K. Leang

Improved Linear Quadratic Tracking Control of Dual-Stage Nanopositioning Systems through a Cascading Structure Conference

American Control Conference (Accepted, forthcoming), 2020.

BibTeX

44.

Xiang He

Modeling and Control of In-Ground-Effect on Rotorcraft Unmanned Aerial Vehicles PhD Thesis

University of Utah, 2020.

Abstract | BibTeX

@phdthesis{HeX_2020_PhD,

title = {Modeling and Control of In-Ground-Effect on Rotorcraft Unmanned Aerial Vehicles},

author = {Xiang He},

year = {2020},

date = {2020-01-11},

school = {University of Utah},

abstract = {The goal of this dissertation is to model and control the behavior of in-ground-effect (IGE) on multirotor unmanned aerial vehicles (UAVs). Ground effect, or rotor IGE, is a common phenomenon experienced by rotorcraft aerial vehicles when taking off, landing on, hovering around, or flying near surfaces or obstacles. Rotor IGE is caused by aerodynamic interaction between the rotor wake and the nearby obstacle. In particular, the deformed wake causes changes in the induced velocity, which leads to drastic changes in rotor thrust and torque that make flight control in confined spaces difficult and challenging. Many of the existing models for IGE are based on work on helicopters from the early 1940s and more so from the 1950s. Many of these models, unfortunately, are not directly applicable to smaller rotorcraft aerial vehicles due to the assumptions that were made. Also, many of these models suffer from singularities at certain heights, and many of them are computationally heavy. The contributions of this dissertation are computationally-light and accurate models of IGE and the development of feedback controllers that are effective at handling IGE. First, a quasi-steady IGE model for a single rotor that predicts a finite maximum IGE thrust ratio is developed. An empirical approach is used to establish the base exponential function in the quasi-steady model, followed by exploiting blade element theory (BET) and the semipositive induced velocity assumption to relate two IGE model coefficients to blade geometry. The changes in the rotor IGE for various multirotor configurations are studied, characterized, and modeled with respect to the number of rotors, rotor rotation direction, and minimum rotor tip-to-tip distance. The quasi-steady model also incorporates a newly-discovered fountain-vortex thrust loss effect. The quasi-steady model is experimentally validated for off-the-shelf and variable pitch propellers. Second, the quasi-steady model is extended to capture dynamic IGE by considering vehicle flight states and the partial ground effect where a portion of a rotor operates within the ground-effect region. More specifically, using blade element theory, rotor IGE thrust ratios in forward and axial flight are derived as a function of the advance ratio and climbing speed in the IGE regime. A rotation-based IGE test stand that simulates forward flight is created and used to characterize dynamic IGE and to validate the analytical results. The advance ratio, rotor disk angle of attack (AOA), and various multirotor configurations (transverse and tandem rotor) are investigated using the test stand. The partial ground effect is empirically characterized, and the behavior is incorporated into the dynamic IGE model. Finally, the developed IGE models are exploited for vehicle motion control to account for IGE on a quadrotor helicopter (quadcopter) aerial vehicle flying near the ground surface. Specifically, a feedback-based nonlinear disturbance observer controller and a feedforward IGE compensator are designed, simulated, and implemented. Simulation and experimental results validate the effectiveness of the IGE model and flight controller to compensate for IGE when flying close to the ground.},

keywords = {},

pubstate = {published},

tppubtype = {phdthesis}

}

Close

The goal of this dissertation is to model and control the behavior of in-ground-effect (IGE) on multirotor unmanned aerial vehicles (UAVs). Ground effect, or rotor IGE, is a common phenomenon experienced by rotorcraft aerial vehicles when taking off, landing on, hovering around, or flying near surfaces or obstacles. Rotor IGE is caused by aerodynamic interaction between the rotor wake and the nearby obstacle. In particular, the deformed wake causes changes in the induced velocity, which leads to drastic changes in rotor thrust and torque that make flight control in confined spaces difficult and challenging. Many of the existing models for IGE are based on work on helicopters from the early 1940s and more so from the 1950s. Many of these models, unfortunately, are not directly applicable to smaller rotorcraft aerial vehicles due to the assumptions that were made. Also, many of these models suffer from singularities at certain heights, and many of them are computationally heavy. The contributions of this dissertation are computationally-light and accurate models of IGE and the development of feedback controllers that are effective at handling IGE. First, a quasi-steady IGE model for a single rotor that predicts a finite maximum IGE thrust ratio is developed. An empirical approach is used to establish the base exponential function in the quasi-steady model, followed by exploiting blade element theory (BET) and the semipositive induced velocity assumption to relate two IGE model coefficients to blade geometry. The changes in the rotor IGE for various multirotor configurations are studied, characterized, and modeled with respect to the number of rotors, rotor rotation direction, and minimum rotor tip-to-tip distance. The quasi-steady model also incorporates a newly-discovered fountain-vortex thrust loss effect. The quasi-steady model is experimentally validated for off-the-shelf and variable pitch propellers. Second, the quasi-steady model is extended to capture dynamic IGE by considering vehicle flight states and the partial ground effect where a portion of a rotor operates within the ground-effect region. More specifically, using blade element theory, rotor IGE thrust ratios in forward and axial flight are derived as a function of the advance ratio and climbing speed in the IGE regime. A rotation-based IGE test stand that simulates forward flight is created and used to characterize dynamic IGE and to validate the analytical results. The advance ratio, rotor disk angle of attack (AOA), and various multirotor configurations (transverse and tandem rotor) are investigated using the test stand. The partial ground effect is empirically characterized, and the behavior is incorporated into the dynamic IGE model. Finally, the developed IGE models are exploited for vehicle motion control to account for IGE on a quadrotor helicopter (quadcopter) aerial vehicle flying near the ground surface. Specifically, a feedback-based nonlinear disturbance observer controller and a feedforward IGE compensator are designed, simulated, and implemented. Simulation and experimental results validate the effectiveness of the IGE model and flight controller to compensate for IGE when flying close to the ground.

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43.

A. Mitrovic, M. Milanovic, K. K. Leang; G. M. Clayton

Multi-time Scale Control of Dual-Stage Nanopositioning Systems Proceedings Article

In: 21st World Congress of the International Federation of Automatic Control (Under review), Berlin, Germany, July 12-17,, 2020.

BibTeX

42.

Dejun Guo

Dynamic and Aggressive Image-Based Flying in GPS-Denied Environments: Estimation, Motion Planning, and Control PhD Thesis

University of Utah, 2019.

Abstract | BibTeX

@phdthesis{GuoD_2019_PhD,

title = {Dynamic and Aggressive Image-Based Flying in GPS-Denied Environments: Estimation, Motion Planning, and Control},

author = {Dejun Guo},

year  = {2019},

date = {2019-05-18},

school = {University of Utah},

abstract = {The goal of this dissertation is to enable an aerial robotic system (including an aircraft with a cable-suspended payload) to fly autonomously in GPS-denied environments through vision from a single monocular camera. To achieve this goal, new estimation, motion planning, and control algorithms that exploit the image-based visual-servo framework are developed.  Rigorous stability analysis based on the Lyapunov approach is also presented for the developed control systems. The image-based framework is of interest because of its robustness to image noise and lower computational demand compared to position-based techniques where pose estimation is required. However, this research tackles inherent challenges including nonlinear dynamics, singularity issues, and complex stability analysis for cases with relaxed constraints on initial estimation errors, vehicle position, and height. The resulting theoretical outcomes are validated experimentally by showing demonstrations of aerial-robot assisted operations related to emergency response, search and rescue, and package delivery in GPS-denied environments, such inside of buildings or in urban canyons where global vehicle localization and control schemes are ineffective or impractical. Firstly, a new kinematic image-based control algorithm using a mobile overhead camera for aerial robots is developed. The control algorithm exploits adaptation to compensate for uncertainties in the camera parameters and depth information, and repetitive control is used to reject inherent periodic tracking errors in the image plane. Stability analysis in the Lyapunov sense is shown. Both simulations and physical experiments are provided for a quadcopter to demonstrate the approach. Secondly, a new nonlinear flight control scheme that combines a vision-based closed-loop observer with a backstepping-based controller using an onboard camera and the inertial measurement unit (IMU) is developed. This new approach is computationally efficient and asymptotically stable. Flight tests are conducted to validate the algorithm’s capabilities for take-off, to hover, to track trajectory, and landing. Finally, a new flight control scheme that combines an image-based position controller and a quaternion-based attitude controller are created that enables and aerial robot to fly aggressively through several narrow windows without knowledge of the robot's position and window size, and the approach is extended to control the motion of a cable-suspended payload for package delivery. Both simulations and physical experiments demonstrate that the approaches are capable of flying into and out of a small house and picking up and transporting several packages with unknown mass.},

keywords = {},

pubstate = {published},

tppubtype = {phdthesis}

}

Close

The goal of this dissertation is to enable an aerial robotic system (including an aircraft with a cable-suspended payload) to fly autonomously in GPS-denied environments through vision from a single monocular camera. To achieve this goal, new estimation, motion planning, and control algorithms that exploit the image-based visual-servo framework are developed. Rigorous stability analysis based on the Lyapunov approach is also presented for the developed control systems. The image-based framework is of interest because of its robustness to image noise and lower computational demand compared to position-based techniques where pose estimation is required. However, this research tackles inherent challenges including nonlinear dynamics, singularity issues, and complex stability analysis for cases with relaxed constraints on initial estimation errors, vehicle position, and height. The resulting theoretical outcomes are validated experimentally by showing demonstrations of aerial-robot assisted operations related to emergency response, search and rescue, and package delivery in GPS-denied environments, such inside of buildings or in urban canyons where global vehicle localization and control schemes are ineffective or impractical. Firstly, a new kinematic image-based control algorithm using a mobile overhead camera for aerial robots is developed. The control algorithm exploits adaptation to compensate for uncertainties in the camera parameters and depth information, and repetitive control is used to reject inherent periodic tracking errors in the image plane. Stability analysis in the Lyapunov sense is shown. Both simulations and physical experiments are provided for a quadcopter to demonstrate the approach. Secondly, a new nonlinear flight control scheme that combines a vision-based closed-loop observer with a backstepping-based controller using an onboard camera and the inertial measurement unit (IMU) is developed. This new approach is computationally efficient and asymptotically stable. Flight tests are conducted to validate the algorithm’s capabilities for take-off, to hover, to track trajectory, and landing. Finally, a new flight control scheme that combines an image-based position controller and a quaternion-based attitude controller are created that enables and aerial robot to fly aggressively through several narrow windows without knowledge of the robot's position and window size, and the approach is extended to control the motion of a cable-suspended payload for package delivery. Both simulations and physical experiments demonstrate that the approaches are capable of flying into and out of a small house and picking up and transporting several packages with unknown mass.

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41.

X. He, G. Kou, M. Calaf; K. K. Leang,

Multi-rotor In-Ground-Effect Modeling and Adaptive Nonlinear Disturbance Observer for Closed-loop UAV Control Journal Article

In: ASME J. Dyn. Syst. Meas. and Cont., Special Issue: "Autonomous Mobile Systems" in Memory of Professor J. Karl Hedrick, vol. 141, pp. 071013 (11 pages), 2019.

BibTeX

40.

W. S. Nagel; K. K. Leang

Robust Sliding-Mode Control for Dual-Stage Nanopositioning Systems Proceedings Article

In: American Control Conference (Accepted, forthcoming), Invited session: Precision Mechatronics, Philadelphia, PA, July 10-12, 2019, 2019.

BibTeX

39.

D. Guo, H. Wang; K. K. Leang

Nonlinear Vision-based Observer for Visual Servo Control of an Aerial Robot in GPS-denied Environments Journal Article

In: ASME J. Mechanisms and Robotics, vol. 10, no. 6, pp. 061018, 2018.

BibTeX

38.

I. Adibnazari, W. S. Nagel; K. K. Leang

Development of a 3-DOF tripedal stick-slip microrobotic mobile platform for unconstrained, omnidirectional sample positioning Proceedings Article

In: ASME Dynamic Systems and Control Conference (DSCC), Atlanta, GA, October 1-3, 2018.

BibTeX

37.

A. Mitrovic, K. K. Leang; G. M. Clayton

Spatial filter design for dual-stage systems Proceedings Article

In: ASME Dynamic Systems and Control Conference (DSCC), Tysons Corner, Virginia, USA, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia, 2017.

BibTeX

36.

D. Guo; K. K. Leang

Position and Linear Velocity Estimation for Position-Based Visual Servo Control of an Aerial Robot in GPS-Denied Environments Proceedings Article

In: ASME Dynamic Systems and Control Conference (DSCC), Tysons Corner, Virginia, USA, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia, 2017.

BibTeX

35.

J. R. Bourne; K. K. Leang

Mutual Information Control for Target Acquisition: A Method to Localize a Gas/Chemical Plume Source Using a Mobile Sensor Proceedings Article

In: ASME Dynamic Systems and Control Conference (DSCC) Tyson Corner, Virginia, USA, October 11-13, 2017, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia, 2017.

BibTeX

34.

X. He, M. Calaf; K. K. Leang

Modeling and Adaptive Nonlinear Disturbance Observer for Closed-Loop Control of In-Ground-Effects on Multi-rotor UAVs Proceedings Article

In: ASME Dynamic Systems and Control Conference (DSCC) Tyson Corner, Virginia, USA, October 11-13, 2017, October 11-13, 2107 at the Sheraton Tysons Hotel in Tysons Corner, Virginia, 2017.

BibTeX

33.

H. Wang, D. Guo, X. Liang, W. Chen, G. Hu; K.K. Leang

Adaptive Vision-Based Leader- Follower Formation Control of Mobile Robots Journal Article

In: IEEE Transactions on Industrial Electronics, vol. 64, no. 4, pp. 2893 - 2902, 2017.

Links | BibTeX

32.

X. He, D. Guo; K. K. Leang

Repetitive Control Design and Implementation for Periodic Motion Tracking in Aerial Vehicles Proceedings Article

In: American Control Conference May 24-26, Seattle, WA, 2017, 2017.

BibTeX

31.

H. Wang, D. Guo, H. Xu, W. Chen, T. Liu; K. K. Leang,

Eye-in-Hand Tracking Control of a Free-Floating Space Manipulator Journal Article

In: IEEE Transactions on Aerospace and Electronic Systems, vol. 53, no. 4, pp. 1855 - 1865, 2017.

BibTeX

30.

D. Guo, W. Yim,; K. K. Leang

Adaptive Repetitive Visual-Servo Control of a Low-Flying Unmanned Aerial Vehicle with an Uncalibrated High-Flying Camera Proceedings Article

In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 9-14, 2016, Daejeon, Korea, pp. 4258 - 4265, 2016.

BibTeX

29.

T. T. Ashley, T. Huang, S. B. Andersson, W. Nagel; K. K. Leang

High-speed AFM through non-raster scanning and high speed actuation Proceedings Article

In: Biophysical Society Annual Meeting, Los Angeles, CA, February 27 - March 2. Poster presentation., 2016.

BibTeX

28.

K. K. Leang; A. J. Fleming

Tracking control for nanopositioning systems, in Fundamentals and Applications of Nanopositioning Technologies Book Chapter

In: Ru, C.; Liu, X.; Sun, Y. (Ed.): Fundamentals and Applications of Nanopositioning Technologies, Springer, 2016.

BibTeX

27.

A. J. Fleming, Y. R. Teo; K. K. Leang

Low-order damping and tracking control for scanning probe systems Journal Article

In: Mechatronics, Frontiers in Mechanical Engineering, vol. 1, pp. Article 14, 2015.

Links | BibTeX

26.

A. J. Fleming; K. K. Leang

Design, modeling, and control of nanopositioning systems Book

Springer, New York, 2014, ISBN: 3319066161.

Links | BibTeX

25.

A. A. Eielsen; J. T. Gravdahl; K. K. Leang

Analog robust repetitive control for nanopositioning Proceedings Article

In: 19th World Congress of the International Federation of Automatic Control, 24-29 August 2014, Cape Town, South Africa (Forthcoming), 2014.

Links | BibTeX

24.

N. L. Johnson; K. K. Leang

Augmented proportional-derivative control of a micro quadcopter Proceedings Article

In: ASME Dynamic Systems and Controls Conference, 2013.

BibTeX

23.

Y. Shan; K. K. Leang

Mechanical design and control for high-speed nanopositioning: serial-kinematic nanopositioners and repetitive control for nanofabrication Journal Article

In: IEEE Control Systems Magazine (In press), Special Issue on Dynamics and Control of Micro and Naoscale Systems, vol. 33, no. 6, pp. 86 – 105, 2013.

Links | BibTeX

22.

A. A. Eielsen; J. T. Gravdahl; K. K. Leang

Robust damping PI repetitive control for nanopositioning Proceedings Article

In: American Control Conference, 2012.

BibTeX

21.

Maxwell J. Fleming

Mitigating IPMC back relaxation through feedforward and feedback control of patterned electrodes Masters Thesis

2012.

Links | BibTeX

20.

Y. Shan; K. K. Leang

Accounting for hysteresis in repetitive control design: nanopositioning example Journal Article

In: Automatica, vol. 48, no. 8, pp. 1751 – 1758, 2012.

Links | BibTeX

19.

Yingfeng Shan

Repetitive control for hysteretic systems: theory and application in piezo-based nanopositioners PhD Thesis

Univesity of Nevada, Reno, 2011.

Links | BibTeX

18.

Y. Shan; K. K. Leang

Repetitive control design for piezoelectric actuators Proceedings Article

In: ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), 2011.

BibTeX

17.

M. J. Fleming; K. J. Kim; K. K. Leang

Mitigating IPMC back-relaxation effect using multi-input control Proceedings Article

In: ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), 2011.

BibTeX

16.

Brian J. Kenton

Design, characterization, and control of a high-bandwidth serial-kinematic nanopositioning stage for scanning probe microscopy applications Masters Thesis

University of Nevada, Reno, Reno, Nevada, 2010.

Links | BibTeX

15.

Y. Shan; K. K. Leang

Dual-stage repetitive control for high-speed nanopositioning Proceedings Article

In: IFAC Symposium on Mechatronic Systems and ASME Dynamic Systems and Control Conference (DSCC), Invited session on Micro- and Nanoscale Dynamics and Control, 2010.

BibTeX

14.

A. J. Fleming; B. J. Kenton; K. K. Leang

Ultra-fast dual-stage vertical positioning for high performance SPMs Proceedings Article

In: American Control Conference, Special Invited Session on Advances in Actuation for Nanopositioning and Scanning Probe Systems, pp. 4975 – 4980, 2010.

BibTeX

13.

S. Song; Y. Shan; K. J. Kim; K. K. Leang

Tracking control of oscillatory motion in IPMC actuators for underwater applications Proceedings Article

In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Invited session on EAP, 2010.

BibTeX

12.

A. J. Fleming; K. K. Leang

Measurement and control for high-speed sub-atomic positioning in scanning probe microscopes Proceedings Article

In: IEEE International Conference on Robotics and Automation (ICRA2010), Invited workshop, May 3-8, 2010.

BibTeX

11.

A. J. Fleming; B. J. Kenton; K. K. Leang

Bridging the gap between conventional and video-speed scanning probe microscopes Journal Article

In: Ultramicroscopy, vol. 110, no. 9, pp. 1205 – 1214, 2010.

BibTeX

10.

B. J. Kenton; K. K. Leang

Design, characterization, and control of a monolithic three-axis high-bandwidth nanopositioning stage Proceedings Article

In: American Control Conference, Special Invited Session on Advances in Actuation for Nanopositioning and Scanning Probe Systems, pp. 4949 – 4956, 2010.

BibTeX

9.