5 citations · 5 across the 3 of their papers we have counts for
3 papers
math.OC2022
Orientation Control of the Bouncing Ball
William Clark, Dora Kassabova
Control of a hybrid dynamical system can manifest in one of two main ways: either through the continuous or the discrete dynamics. An example of controls influencing the continuous…
cs.RO2022
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control
Sangli Teng, Dianhao Chen, William Clark +1
This paper reports on a new error-state Model Predictive Control (MPC) approach to connected matrix Lie groups for robot control. The linearized tracking error dynamics and the lin…
math.DS2019★ 5 cited
A New Dynamic Model of a Two-Wheeled Two-Flexible-Beam Inverted Pendulum Robot
Amin Mehrvarz, Mohammad Javad Khodaei, William Clark +1
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one s…