3 citations · 3 across the 9 of their papers we have counts for
9 papers
An Autonomous Subgram SMA-Based Swimmer
Conor K. Trygstad, Francisco M. F. R. Gonçalves, Néstor O. Pérez-Arancibia
We present the Swima, a bioinspired 900-mg swimmer propelled by two 10-mg high-work-density (HWD) actuators driven by shape-memory alloy (SMA) wires. We integrated onboard power an…
A Class of Axis-Angle Attitude Control Laws for Rotational Systems
Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor O. Pérez-Arancibia
We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler \mbox{axis--angle} representation beyond quaternio…
A New Type of Axis-Angle Attitude Control Law for Rotational Systems: Synthesis, Analysis, and Experiments
Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor O. Pérez-Arancibia
Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as…
Feedback Control of a Single-Tail Bioinspired 59-mg Swimmer
Conor K. Trygstad, Cody R. Longwell, Francisco M. F. R. Gonçalves +2
We present an evolved steerable version of the single-tail Fish-&-Ribbon-Inspired Small Swimming Harmonic roBot (FRISSHBot), a 59-mg biologically inspired swimmer, which is driven…
Closed-Loop Stability of a Lyapunov-Based Switching Attitude Controller for Energy-Efficient Torque-Input-Selection During Flight
Francisco M. F. R. Gonçalves, Ryan M. Bena, Néstor O. Pérez-Arancibia
We present a new Lyapunov-based switching attitude controller for energy-efficient real-time selection of the torque inputted to an uncrewed aerial vehicle (UAV) during flight. The…
A Lyapunov-Based Switching Scheme for Selecting the Stable Closed-Loop Fixed Attitude-Error Quaternion During Flight
Francisco M. F. R. Goncalves, Ryan M. Bena, Konstantin I. Matveev +1
We present a switching scheme, which uses both the attitude-error quaternion (AEQ) and the angular-velocity error, for controlling the rotational degrees of freedom of an uncrewed…