3 papers
eess.SY2019
Controllability and Accessibility Results for N-Link Horizontal Planar Manipulators with One Unactuated Joint
Tan Chen, Bill Goodwine
This paper presents the accessibility and small-time local controllability (STLC) results for -link horizontal planar manipulators with only one unactuated joint. STLC is import…
math.DS2017
On Passivity of Fractional Order Systems
Mohsen Rakhshan, Vijay Gupta, Bill Goodwine
We generalize notions of passivity and dissipativity to fractional order systems. Similar to integer order systems, we show that the proposed definitions generate analogous stabili…
math-ph2016
Implicit operators for networked mechanical and thermal systems with integer-order components
Mihir Sen, John P. Hollkamp, Fabio Semperlotti +1
Complex systems are composed of a large number of simple components connected to each other in the form of a network. It is shown that, for some network configurations, the equival…