3 papers
eess.SY2026
Global Sensitive-Based Input Shaping for UAV-Payload Precision Motion Control
Karan Baker, Sanjay Maharjan, Tariq Hlayel +3
This work presents a comprehensive analysis and design of global sensitivity-based input shapers for a 3D Unmanned Aerial Vehicle-payload system, emphasizing robustness against unc…
cs.RO2026
Input Shaping for Point-to-Point Motion with a Continuum Robot Arm
Rodolfo Hdz. Ibarra, Karan Baker, Parsa Molaei +2
A cable-driven continuum robot arm is an underactuated mechanism and may suffer residual vibration at the end of a rest-to-rest maneuver. In this work, a time-delay filter is appli…
eess.SY2026
Polynomial Chaos-based Input Shaper Design under Time-Varying Uncertainty
Johannes Güttler, Karan Baker, Premjit Saha +2
The work presented here investigates the application of polynomial chaos expansion toward input shaper design in order to maintain robustness in dynamical systems subject to uncert…