PUBLICATIONS
LISTED BY CATEGORY
Richard
W. Longman
Categories
Iterative Learning Control and Repetitive Control (ILC/RC)
Kinematics, Intelligent Mechanisms,
Morphing Mechanisms
System Identification
Structural Health Monitoring
Time Optimal Control of Robots,
Optimal Path Planning
Robotics in Space
Walking, Hopping, Somersaulting Robots
Satellite Attitude Dynamics
Degree of Controllability and
Observability
Criteria for Sensor/Actuator
Placement
Energy Optimal Control
of Subways
Feedback Control of Plasma
Physics Tokomaks
(BACK TO PUBLICATIONS)
---------------------------------------------------------------------------------------------------------------------------------------------------------------
Iterative Learning and Repetitive Control (back to top)
Some Basic or Overview
Papers:
R. W. Longman, “On the
Theory and Design of Repetitive Control Systems,” European Journal of Control, invited paper, under review.
R. W. Longman, “Iterative
Learning Control and Repetitive Control for Engineering Practice,” International Journal of Control,
Special Issue on Iterative Learning Control, Vol. 73, No. 10, July 2000, pp.
930-954.
R. W. Longman, “Designing
Iterative Learning and Repetitive Controllers,” chapter in Iterative Learning Control: Analysis, Design, Integration and
Applications, Bien and Xu editors, Kluwer Academic Publishers, Boston,
1998, pp. 107-146.
H. Elci, R. W. Longman, M. Q. Phan, J.-N. Juang, and
R. Ugoletti, “Simple Learning Control Made Practical by Zero-Phase Filtering:
Applications to Robotics” (invited paper), IEEE
Transactions on Circuits and Systems I: Fundamental Theory and Applications,
Special Issue on Multidimensional Signals and Systems, Guest Editors: S. Basu
and M. N. S. Swamy, Vol. 49, No. 6, June 2002, pp. 753-767. This is the journal
version of: H. Elci, M. Phan, R. W. Longman, J.-N. Juang, and R. Ugoletti, “Experiments
in the use of Learning Control for Maximum Precision Robot Trajectory
Tracking,” Proceedings of the 1994
Conference on Information Sciences and Systems, Princeton, NJ, March 1994,
pp. 951-958.
H. Elci, R. W. Longman, M. Phan, J.-N. Juang, and R.
Ugoletti, “Discrete Frequency Based Learning Control for Precision Motion
Control,” Proceedings of the 1994 IEEE
International Conference on Systems, Man, and Cybernetics, San Antonio, TX,
Oct. 1994, pp. 2767-2773.
H.
Elci, R. W. Longman, M. Phan, J.-N. Juang, and R. Ugoletti, “Automated Learning
Control through Model Updating for Precision Motion Control,” Adaptive Structures and Composite Materials:
Analysis and Applications, ASME, AD-Vol. 45/MD-Vol. 54, Nov. 1994, pp.
299-314.
M. Q. Phan, R. W. Longman,
and K. L. Moore, “Unified Formulation of Linear Iterative Learning Control,” Advances in the Astronautical Sciences,
Vol. 105, 2000, pp. 93-111.
R. W. Longman and Y.-C.
Huang, “The Phenomenon of Apparent Convergence followed by Divergence in
Learning and Repetitive Control,” Intelligent
Automation and Soft Computing, Special Issue on Learning and Repetitive
Control, Guest Editor: H. S. M. Beigi, Vol. 8, No. 2, 2002, pp. 107-128.
(Earlier version: Y.-C.
Huang and R. W. Longman, “The Source of the Often Observed Property of Initial
Convergence Followed by Divergence in Learning and Repetitive Control,” Advances in the Astronautical Sciences,
Vol. 90, 1996, pp. 555-572.)
B. Panomruttanarug and R. W.
Longman, “Repetitive Controller Design Using Optimization in the Frequency
Domain,” Proceedings of the 2004 AIAA/AAS
Astrodynamics Specialist Conference, Providence, RI, August 2004.
Y.-P.
Hsin and R. W. Longman, “Repetitive Control to Eliminate Periodic Measurement
Disturbances: Application to Disk Drives,” Advances
in the Astronautical Sciences, Vol. 114, 2003, pp. 135-150.
M. Phan and R. W. Longman,
“A Mathematical Theory of Learning Control for Linear Discrete Multivariable
Systems,” Proceedings of the AIAA/AAS
Astrodynamics Conference, Minneapolis, Minnesota, August 1988, pp. 740-746.
(Gives the supervector formulation for ILC.)
R. H. Middleton, G. C.
Goodwin, and R. W. Longman, “A Method for Improving the Dynamic Accuracy of a
Robot Performing a Repetitive Task,” International
Journal of Robotics Research, Vol. 8, No. 5, October 1989, pp.67-74. (An
earlier version is available as University of Newcastle, Newcastle, Australia,
Department of Electrical Engineering Technical Report EE8546, 1985.)
Additional Papers:
R. W. Longman, “Repetitive
Control Design Methodology for Enhanced Performance,” Symposium on Iterative
Learning Control at the IEEE Conference on Decision and Control, Shanghai,
China. (A shorter version of the European Journal of Control paper under
review.)
M. Q. Phan, R. W. Longman,
B. Panomruttanarug, and S. C. Lee, “Robustification of Iterative Learning
Control and Repetitive Control by Averaging,” International Journal of Control, Special Issue, accepted for
publication.
Y. Li and R. W. Longman, “Using
Underspecification to Eliminate the Usual Instability of Digital System Inverse
Models,” Advances in the Astronautical
Sciences, Vol. 135, pp. 127-146, to appear.
J. W. Yeol, R. W. Longman,
and H. G. Bock, “On the Relationships between Proofs of Convergence in
Continuous Time and Discrete Time Iterative Learning Control,” Advances in the Astronautical Sciences, Vol.
135, pp. 1383-1400, to appear.
R. W. Longman and K. D.
Mombaur, “Iterative Learning Control in Nonlinear Systems using State
Estimation for Relinearization,” Advances
in the Astronautical Sciences, Vol. 134, 2009, pp. 1721-1735.
K. Xu and R. W. Longman, “Use
of Taylor Expansions of the Inverse Model to Design FIR Repetitive Controllers,”
Advances in the Astronautical Sciences,
Vol. 134, 2009, pp. 1073-1088.
B. Panomruttanarug, R. W.
Longman, and M. Q. Phan, “Multiple Model Robustification of Iterative Learning
and Repetitive Control Laws Including Design from Frequency Response Data,” Advances in the Astronautical Sciences,
Vol. 134, 2009, 2259-2278.
R. W. Longman, K. Xu, and B.
Panomruttanarug, “Designing Learning Control that is Close to Instability for
Improved Parameter Identification,” Modeling,
Simulation and Optimization of Complex Processes, Bock, Kostina, Phu, and
Rannacher Editors, Springer-Verlag, Heidelberg, 2008, pp. 359-370
B. Panomruttanarug and R. W.
Longman, “Using a Kalman Filter to Attenuate Noise in Learning and Repetitive
Control can Easily Degrade Performance,” Proceedings
of the SICE Annual Conference 2008, (cosponsored by IEEE), Chofu, Tokyo,
Japan, August 20-23.
J. Bao and R. W. Longman, “Enhancing
of Repetitive Control using Specialized FIR Zero-Phase Filter Designs,” Advances in the Astronautical Sciences,
Vol. 129, 2008, pp. 1413-1432.
H. M. Brown, M. Q. Phan, S.
C. Lee, and R. W. Longman, “Robustified Repetitive Controllers with Monotonic
Convergence for Multiple-Input Multiple-Output Systems,” Advances in the Astronautical Sciences, Vol. 129, 2008, pp.
1893-1912.
R. W. Longman, K. Xu, and M.
Q. Phan, “Design of Repetitive Controllers in the Frequency Domain for
Multi-Input Multi-Output Systems,” Advances
in the Astronautical Sciences, Vol. 129, 2008, pp. 1593-1612.
B. Panomruttanarug and R. W.
Longman, “The Advantages and Disadvantages of Kalman Filtering in Repetitive
Control,” Advances in the Astronautical
Sciences, Vol. 129, 2008, pp. 1433-1452.
Y. Li and R. W. Longman, “Addressing
Problems of Instability in Intersample Error in Iterative Learning Control,” Advances in the Astronautical Sciences,
Vol. 129, 2008, pp. 1571-1591.
A. P. Chinnan and R. W.
Longman, “Designing Iterative Learning Controllers from Limited Pulse Response
Data,” Advances in the Astronautical
Sciences, Vol. 130, 2008, pp. 283-302.
R. W. Longman and K. D.
Mombaur, “Implementing Linear Iterative Learning Control Laws in Nonlinear
Systems,” Advances in the Astronautical
Sciences, Vol. 130, 2008, pp. 303-324.
B. Panomruttanarug and R. W.
Longman, “The Advantages and Disadvantages of Kalman Filtering in Iterative
Learning Control,” Advances in the
Astronautical Sciences, Vol. 130, 2008, pp. 347-365.
R. W. Longman, “The
Fundamental Reliance of Iterative Learning Control on Stability Robustness,” Proceedings of the 14th Yale Workshop on
Adaptive and Learning Systems, Yale University, New Haven, CN, June 2008,
pp. 35-40.
J. W. Yeol, R. W. Longman,
and Y. S. Ryu, “On the Settling Time in Repetitive Control Systems,” Proceedings of the 17th IFAC
World Congress, Seoul, Korea, July 2008.
M. Q. Phan, H. M. Brown, S.
C. Lee, and R. W. Longman, “Frequency Domain Based Design of Iterative Learning
Controllers for Monotonic Convergence,” Proceedings
of the 17th IFAC World Congress, Seoul, Korea, July 2008.
J. Bao, R. W. Longman, E. A.
Kostina, D. W. Wang, Y. Wang, “Improved Repetitive Control Filter Design for
Both Learning Frequency Cutoff and Interpolation,” Proceedings of the AIAA/AAS Astrodynamics Specialist Conference,
Hawaii, August 2008.
R. W. Longman, J.-N. Juang,
and M. Q. Phan, “On the Ill-Conditioning in MPC when used to Address the
Repetitive Control Problem,” Proceedings
of the AIAA/AAS Astrodynamics Specialist Conference, Hawaii, August 2008.
R. W. Longman, K. D.
Mombaur, and B. Panomruttanarug, “Designing Iterative Learning Control Subject
to Actuator Limitations Using QP Methods,” Proceedings
of the AIAA/AAS Astrodynamics Specialist Conference, Hawaii, August 2008.
J. W. Yeol and R. W.
Longman, “Time and Frequency Domain Evaluation of Settling Time in Repetitive
Control,” Proceedings of the AIAA/AAS
Astrodynamics Specialist Conference, Hawaii, August 2008.
R. W. Longman, J. W. Yeol,
and Y. S. Ryu, “Placing the Repetitive Controller Inside of Outside the
Feedback Loop: Simultaneously Achieving the Feedback and Repetitive Control
Objectives,” Advances in the
Astronautical Sciences, Vol. 127, 2007, pp. 1703-1722.
B. Panomruttanarug and R. W.
Longman, “Designing Optimized FIR Repetitive Controllers from Noisy Frequency
Response Data,” Advances in the
Astronautical Sciences, Vol. 127, 2007, pp. 1723-1742.
R. W. Longman and W. Kang, “Issues
in Robustification of Iterative Learning Control Using a Zero-Phase Filter
Cutoff,” Advances in the Astronautical
Sciences, Vol. 127, 2007, pp. 1683-1702.
R. W. Longman and J. Bao, “On
the Periodic Images of Start-Up in Repetitive Control,” Advances in the Astronautical Sciences, Vol. 127, 2007, pp.
1743-1762.
Y. Li and R. W. Longman, “Better
Holds Can Make Worse Intersample Error in Digital Learning Control,” Proceedings of the 2006 AIAA/AAS
Astrodynamics Specialist Conference, Keystone, CO, Aug. 2006
K. Chen, R. W. Longman, and
M. Q. Phan, “On the Relationship Between Repetitive Control and Model
Predictive Control,” Proceedings of the
2006 AIAA/AAS Astrodynamics Specialist Conference, Keystone, CO, Aug. 2006.
R. W. Longman, T. Kwon, D.
Wang, and Y. Ye, “Practical, Model-Free, Completely Robust Learning Control
using Reversed Time Input Runs,” Proceedings
of the 2006 AIAA/AAS Astrodynamics Specialist Conference, Keystone, CO,
Aug. 2006.
R. W. Longman, J. W. Yeol,
and Y. S. Ryu, “Tuning and Performance of Robust Multiple-Period Repetitive
Control,” Advances in the Astronautical
Sciences, Vol. 124, 2006, pp. 687-705.
B. Panomruttanarug and R. W.
Longman, “Converting Repetitive Control into Stable Learning Control by
Iterative Adjustment of Initial State,” Advances
in the Astronautical Sciences, Vol. 124, 2006, pp. 667-686.
S. C. Lee, M. Q. Phan, and R.
W. Longman, “Multiple-Model Design of Robustified Repetitive Controllers with
Optimized Convergence Rate,” Proceedings
of the 2006 AIAA Guidance, Navigation, and Control Conference, Keystone,
CO, Aug. 2006.
R. W. Longman, J. W. Yeol,
and Y. S. Ryu, “Improved Methods to Cancel Multiple Unrelated Periodic
Disturbances by Repetitive Control,” Advances
in the Astronautical Sciences, Vol. 123, 2006, pp. 199-218.
B. Panomruttanarug and R. W.
Longman, “Frequency Based Optimal Design of FIR Zero-Phase Filters and
Compensators for Robust Repetitive Control,” Advances in the Astronautical Sciences, Vol. 123, 2006, pp.
219-238.
R. W. Longman, T. Kwon, and
P. A. LeVoci, “Making the Learning Control Problem Well Posed – Stabilizing
Intersample Error,” Advances in the
Astronautical Sciences, Vol. 123, 2006, pp. 1143-1162.
W. Kang and R. W. Longman, “The
Effect of Interpolation on Stability and Performance in Repetitive Control,” Advances in the Astronautical Sciences,
Vol. 123, 2006, pp. 1163-1182.
C.-P. Lo and R. W. Longman, “Frequency
Response Analysis of Higher Order Repetitive Control,” Advances in the Astronautical Sciences, Vol. 123, 2006, pp.
1183-1202.
R. W. Longman and M. Q. Phan, “Iterative Learning Control
as a Method of Experiment Design for Improved System Identification,” Special
Issue on Parameter Estimation and Experiment Design, Optimization Methods and Software, Taylor and Francis Publishers,
Vol. 21, No. 6, Dec. 2006, pp. 919-941
R. W. Longman and K. D.
Mombaur, “Investigating the Use of Iterative Learning Control and Repetitive
Control to Implement Periodic Gaits,” Fast
Motions in Biomechanics and Robotics, Optimization and Feedback Control, M.
Diehl and K. Mombaur, Editors, Springer-Verlag, Berlin, Heidelberg, 2006, pp.
189-218.
N. Phetkong, M. S. Chew, and
R. W. Longman, “Morphing Mechanisms Part 1: Using Iterative Learning Control to
Morph Cam Follower Motion,” American
Journal of Applied Sciences, Vol. 2, No. 5, 2005, pp. 897-903.
N. Phetkong, M. S. Chew, and
R. W. Longman, “Morphing Mechanisms Part 2: Using Repetitive Control to Morph
Cam Follower Motion,” American Journal of
Applied Sciences, Vol. 2, No. 5, 2005, pp. 904-909.
M. Nagashima and R. W.
Longman, “Comparison of Methods for Rejecting Multiple Frequency Disturbances
with Frequency Tracking,” Advances in the
Astronautical Sciences, Vol. 120, 2005, pp. 2061-2080.
M. Nagashima and R. W.
Longman, “Cancellation of Unknown Periodic Disturbances by PLL/Adaptive Matched
Basis Function Repetitive Control,” Advances
in the Astronautical Sciences, Vol. 120, 2005, pp. 2041-2060.
R. W. Longman, P. A. LeVoci,
and T. Kwon, “Making the Impossible Possible in Iterative Learning Control,” Proceedings of the Thirteenth Yale Workshop
on Adaptive and Learning Systems, Center for System Science, Yale
University, New Haven, CT, May-June 2005, pp. 99-106.
R. W. Longman and M. Q.
Phan, “Experiment Design Using Iterative Learning Control for Improved
Identification of Linear Systems,” Advances
in the Astronautical Sciences, Vol. 120, 2005, pp. 1003-1021.
C.-P. Lo and R. W. Longman,
“Root Locus Analysis of Higher Order Repetitive Control,” Advances in the Astronautical Sciences, Vol. 120, 2005, pp. 2021-2040.
K. Takanishi, M. Q. Phan,
and R. W. Longman, “Multiple-Model Probabilistic Design of Robust Iterative
Learning Controllers,” Transactions of
the North American Manufacturing Research Institution, Society of
Manufacturing Engineers, Vol. 33, May 2005, pp. 533-540.
C.-P. Lo and R. W. Longman,
“Designing Root Locus Departure Angle Compensators in Repetitive Control Based
on Error Spectrum,” Advances in the
Astronautical Sciences, Vol. 119, 2005, pp. 1389-1408.
K. Takanishi, M. Q. Phan,
and R. W. Longman, “Design of an Optimal Combination of Feedback and Iterative
Learning Controllers,” Advances in the
Astronautical Sciences, Vol. 119, 2005, pp. 789-800.
S. J. Oh and R. W. Longman,
“Stability of Higher Order Repetitive Control,” Modeling, Simulation and Optimization of Complex Systems, H. G.
Bock, E. Kostina, H. X. Phu, and R. Rannacher, Editors, Springer Verlag,
Heidelberg, Germany, 2005, pp. 383-392.
K. Chen and R. Longman,
“Stabilization of Learning Control in the Presence of Parasitic Poles for Short
Time Trajectories,” Advances in the
Astronautical Sciences, Vol. 119, 2005, pp. 1561-1580.
M. Nagashima and R. W.
Longman, “Stability and Performance Analysis of Matched Basis Function
Repetitive Control in the Frequency Domain,” Advances in the Astronautical Sciences, Vol. 119, 2005, pp.
1581-1600.
R. W. Longman and B.
Panomruttanarug, “Design of a Non-Causal FIR Model Inverse as a Compensator in
Repetitive Control,” Modeling, Simulation
and Optimization of Complex Systems, H. G. Bock, E. Kostina, H. X. Phu, and
R. Rannacher, Editors, Springer Verlag, Heidelberg, Germany, 2005, pp. 297-306.
H.-J. Chen, R. W. Longman,
M.-S. Chew, “Eliminating Structural Error in Real-Time Adjustable Four-Bar Path
Generators using Iterative Learning Control,” Proceedings of the 28th Biennial Mechanisms and Robotics
Conference, ASME Design Engineering Technical Conference DETC2004-57573,
Salt Lake City, Utah, Sept. 28-Oct. 3, 2004.
M. S. Chew, R. W. Longman,
and M. Q. Phan, “Intelligent Mechanisms,” Proceedings
of the 28th Biennial Mechanisms and Robotics Conference, ASME
Design Engineering Technical Conference DETC2004-57553, Salt Lake City, Utah,
Sept. 28-Oct. 3, 2004.
P. A. LeVoci and R. W.
Longman, “Intersample Error in Discrete Time Learning and Repetitive Control,” Proceedings of the 2004 AIAA/AAS
Astrodynamics Specialist Conference, Providence, RI, August 2004.
S. J. Oh, R. W. Longman, and
Y.-P. Hsin, “The Possible Block Diagram Configurations for Repetitive Control
to Cancel Periodic Plant or Measurement Disturbances,” Proceedings of the 2004 AIAA/AAS Astrodynamics Specialist Conference,
Providence, RI, August 2004.
S. J. Oh and R. W. Longman,
“Analysis of Stability and Performance in Higher Order Repetitive Control,” Advances in the Astronautical Sciences,
Vol. 116, 2004, pp. 1291-1310.
P. A. LeVoci and R. W.
Longman, “Frequency Domain Prediction of Final Error due to Quantization in
Learning and Repetitive Control,” Advances
in the Astronautical Sciences, Vol. 116, 2004, pp. 1311-1330.
R. W. Longman, “Approaches
to Iterative Learning Control for Short Trajectories,” Proceedings of the Twelfth Yale Workshop on Adaptive and Learning
Systems, Yale University, May 2003, pp. 115-122.
M. Q. Phan, R. W. Longman, S. C. Lee, and J.-W. Lee,
“System Identification from Multiple-Trial Data Corrupted by Non-Repeating
Periodic Disturbances,” International
Journal of Applied Mathematics and Computer Science, Vol. 13, No. 2, 2003,
pp. 185-192.
R. W. Longman, Y.-T. Peng,
T. Kwon, H. Lus, R. Betti, and J.-N. Juang, “Adaptive Inverse Iterative
Learning Control,” Advances in the
Astronautical Sciences, Vol. 114, 2003, pp. 115-134.
K. Chen and R. W. Longman,
“Creating Short Time Equivalents of Frequency Cutoff for Robustness in Learning
Control,” Advances in the Astronautical
Sciences, Vol. 114, 2003, pp. 95-114.
M. Nagashima and R. W.
Longman, “The Effect of Averaging in Matched Basis Function Real Time
Repetitive Control,” Advances in the
Astronautical Sciences, Vol. 114, 2003, pp. 75-94.
S. Songschon and R. W. Longman, “Comparison of the
Stability Boundary and the Frequency Response Stability Condition in Learning
and Repetitive Control,” International
Journal of Applied Mathematics and Computer Science, Vol. 13, No. 2, 2003,
pp. 169-177.
R. W. Longman, “On the Interaction Between Theory,
Experiments, and Simulation in Developing Practical Learning Control
Algorithms,” Special Issue: Multidimensional Systems nD and Iterative Learning
Control, K. Galkowski, R. W. Longman, and E. Rogers, Editors, International Journal of Applied Mathematics
and Computer Science, Vol. 13, No. 1, 2003, pp. 101-111.
K. E. Avrachenkov and R. W. Longman, “Iterative
Learning Control for Over-Determined, Under-Determined, and Ill-Conditioned
Systems,” Special Issue: Multidimensional Systems nD and Iterative Learning
Control, K. Galkowski, R. W. Longman, and E. Rogers, Editors, International Journal of Applied Mathematics
and Computer Science, Vol. 13, No. 1, 2003, pp. 113-122.
R. W. Longman and T. Kwon,
“Obtaining Good Transients in Iterative Learning Control Using Step Response
Data,” Proceedings of the AIAA/AAS
Astrodynamics Specialist Conference, Monterey, CA, August 2002.
S. J. Oh and R. W. Longman,
“Methods of Real-Time Zero-Phase Low-Pass Filtering for Robust Repetitive
Control,” Proceedings of the AIAA/AAS
Astrodynamics Specialist Conference, Monterey, CA, August 2002.
P. A. LeVoci and R. W.
Longman, “Time Domain Prediction of Final Error Due to Noise in Learning and
Repetitive Control,” Proceedings of the
AIAA/AAS Astrodynamics Specialist Conference, Monterey, CA, August 2002.
M. Q. Phan and R. W. Longman, “Higher-Order
Iterative Learning Control by Pole Placement and Noise Filtering,” paper in
invited session on higher-order learning control, Proceedings of the 2002 IFAC World Congress, Barcelona Spain, July
2002.
S. C. Lee, R. W. Longman,
and M. Q. Phan, “Direct Model Reference Learning and Repetitive Control,” Intelligent Automation and Soft Computing,
Special Issue on Learning and Repetitive Control, Guest Editor: H. S. M. Beigi,
Vol. 8, No. 2, 2002, pp. 143-161.
K. Avrachenkov, H. S. M.
Beigi, and R. W. Longman, “Updating Procedures for Iterative Learning Control
in Hilbert Space,” Intelligent Automation
and Soft Computing, Special Issue on Learning and Repetitive Control, Guest
Editor: H. S. M. Beigi, Vol. 8, No. 2, 2002, pp. 183-189. (Conference version appears
in Proceedings of the 38th IEEE
Conference on Decision and Control, Phoenix, AZ, 1999, pp. 276-280, and as
IBM Research Report RC21558, 31 August 1999.)
H.-J. Chen, R. W. Longman,
and B. N. Agrawal, “Approaches to Matched Basis Function Repetitive Control,” Advances in the Astronautical Sciences,
Vol. 109, 2002, pp. 931-950.
K. Chen and R. W. Longman, “Stability Issues using
FIR Filtering in Repetitive Control,” Advances
in the Astronautical Sciences, Vol. 112, 2002, pp. 1321-1339.
P. LeVoci and R. W. Longman, “Frequency Domain
Prediction of Final Error due to Noise in Learning and Repetitive Control,” Advances in the Astronautical Sciences,
Vol. 112, 2002, pp. 1341-1359.
C.-P. Lo and R. W. Longman, “On the use of Root
Locus Departure Angle Information to Design Compensators in Repetitive
Control,” Advances in the Astronautical
Sciences, Vol. 112, 2002, pp. 1383-1402.
R. W. Longman, “Iterative
Learning Control: A Study of the Interplay between Theory, Simulation, and
Experiments,” Proceedings of the Eleventh
Yale Workshop on Adaptive and Learning Systems, Center for Systems Science,
Yale University, June 2001, pp. 49-58.
R. A. Akogyeram, R. W.
Longman, A. Hutton, and J.-N. Juang, “On the Choice of Method to Cancel 60Hz
Disturbances in Beam Position and Energy,” Proceedings
of the 2001 Particle Accelerator Conference, Chicago, 2001, pp. 1270-1272.
R. W. Longman, “Real Time
IIR Zero-Phase Low-Pass Filtering for Robust Repetitive Control.” Proceedings of the Sixth International
Conference on Control, Automation, Robotics and Vision, Singapore, 5-8
December 2000.
H.-P. Wen and R. W. Longman, “Repetitive Control
Methods when the Disturbance Period is not an Integer Multiple of the Sample
Time,” Advances in the Astronautical
Sciences, Vol 108, 2002, pp. 1301-1320.
T. Songchon and R. W. Longman, “On the Waterbed
Effect in Repetitive Control using Zero-Phase Filtering,” Advances in the Astronautical Sciences, Vol 108, 2002, pp.
1321-1340.
R. W. Longman, R. Akogyeram, A. Hutton, and J.-N. Juang,
“Trade-Offs between Feedback, Feedforward, and Repetitive Control for Systems
Subject to Periodic Disturbances,” Advances
in the Astronautical Sciences, Vol 108, 2002, pp. 1281-1300.
H.-J. Chen, B. N. Agrawal, R. W. Longman, M. Q.
Phan, and S. G. Edwards, “Rejection of Multiple Periodic Disturbances using
MELMS with Disturbance Identification,” Advances
in the Astronautical Sciences, Vol 108, 2002, pp. 587-606.
S. C. Lee, M. Q. Phan, R. W.
Longman, and J.-W. Lee, “System and Disturbance Identification for Model-Based
Learning and Repetitive Control,” Proceedings
of the Second International Workshop on Multidimensional (nD) Systems,
Castle Czochia, Lower Silesia, Poland, June 2000, pp. 105-109.
R. W. Longman, “Iterative
Learning Control – Dynamic Systems that Learn in Time and Repetitions,” Keynote
Lecture, Proceedings of the Second
International Workshop on Multidimensional (nD) Systems, Castle Czochia,
Lower Silesia, Poland, June 2000, pp. 55-65.
K. Avrachenkov
and R. W. Longman, “Iterative Learning Control for Over-Determined,
Under-Determined, and Ill Conditioned Systems,” Proceedings of the Second International Workshop on Multidimensional
(nD) Systems, Castle Czochia, Lower Silesia, Poland, June 2000, pp.
127-134.
R. W. Longman, R. Akogyeram,
J.-N. Juang, and A. Hutton, “Control Law Design for Eliminating Periodic
Disturbances above Nyquist Frequency,” Proceedings
of the AIAA/AAS Astrodynamics Conference, Denver, CO, August 2000, pp.
418-432.
T. Songchon and R. W.
Longman, “Iterative Learning Control and the Waterbed Effect,” Proceedings of the AIAA/AAS Astrodynamics
Conference, Denver, CO, August 2000, pp. 444-453.
R. W. Longman, R. Akogyeram,
A. Hutton, J.-N. and J.-N. Juang, “Stability of Matched Basis Function
Repetitive Control,” Advances in the
Astronautical Sciences, Vol. 105, 2000, pp. 33-52.
H.-J. Chen, B. N. Agrawal,
R. W. Longman, and M. Q. Phan, “Frequency-Domain Clear-Box Disturbance
Rejection,” Advances in the Astronautical
Sciences, Vol. 105, 2000, pp. 73-92..
R.
W. Longman and Y.-C. Huang, “Analysis and Frequency Response of the Alternating
Sign Learning and Repetitive Control Laws,” Journal
of the Chinese Society of Mechanical Engineers., Vol. 21, No. 1, 2000, pp.
107-118.
S. G. Edwards, B. N.
Agrawal, M. Q. Phan, and R. W. Longman, “Disturbance Identification and
Rejection Experiments on an Ultra Quiet Platform,” Advances in the Astronautical Sciences, Vol. 103, 1999, pp.
633-651.
A. M. Plotnik and R. W.
Longman, “Subtleties in the Use of Zero-Phase Low-Pass Filtering and Cliff
Filtering in Learning Control,” Advances
in the Astronautical Sciences, Vol. 103, 1999, pp. 673-692.
S.-L. Wirkander and R. W.
Longman, “Limit Cycles for Improved Performance in Self-Tuning Learning Control,” Advances
in the Astronautical Sciences, Vol. 102, 1999, pp. 763-781.
H.-J. Chen and R. W.
Longman, “The Importance of Smooth Updates in Producing Good Error Levels in
Repetitive Control,” Proceedings of the
38th IEEE Conference on Decision and Control, Phoenix, AZ, 1999, pp.
258-263.
R. W. Longman and T.
Songchon, “Trade-Offs in Designing Learning/Repetitive Controllers using
Zero-Phase Filtering for Long Term Stability,” Advances in the Astronautical Sciences, Vol. 102, 1999, pp.
243-263.
H.-P. Wen and R. W. Longman,
“Floquet Stability Analysis of Disturbance Cancellation using Iterative Basis
Function Feedback,” Advances in the
Astronautical Sciences, Vol. 102, 1999, pp. 783-802.
R. W. Longman and S.-L.
Wirkander, “Automated Tuning Concepts for Iterative Learning and Repetitive
Control Laws,” Proceedings of the 37th
IEEE Conference on Decision and Control, Tampa, Florida, Dec. 1998, pp.
192-198.
H.-P. Wen, M. Q. Phan, and
R. W. Longman, “Bridging Learning Control and Repetitive Control using Basis
Functions,” Advances in the Astronautical
Sciences, Vol. 99, 1998, pp. 335-354.
J. Li, R. W. Longman, V. H.
Schulz, and H. G. Bock, “Implementing Time Optimal Robot Maneuvers using
Realistic Actuator Constraints and Learning Control,” Advances in the Astronautical Sciences, Vol. 99, 1998, pp. 355-374.
R. W. Longman, “Simple and
Effective Iterative Learning and Repetitive Control Laws Tuned by Adjusting a
Few Parameters,” Proceedings of the Tenth
Yale Workshop on Adaptive and Learning Systems, Center for Systems Science,
Yale University, June 1998, pp. 192-198.
Y. S. Ryu and R. W. Longman,
“Use of Anti-Reset Windup in Integral Control Based Learning and Repetitive
Control,” Journal of the Chinese Society
of Mechanical Engineers, Special Issue on Dynamics and Control, Vol. 19,
No. 1, 1998, pp. 69-79.
Conference version: Proceedings of the 1994 IEEE International Conference on Systems, Man,
and Cybernetics, San Antonio, TX, Oct. 1994, pp. 2617-2622.
R. W. Longman and Y.-C.
Huang, “Use of Unstable Repetitive Control for Improved Tracking Accuracy,” Journal of the Chinese Society of Mechanical
Engineers, Special Issue on Dynamics and Control, Vol. 19, No. 1, 1998,
pp.81-93.
Conference
version: Adaptive Structures and Composite
Materials: Analysis and Applications, ASME, AD-Vol. 45/MD-Vol. 54, Nov.
1994, pp. 315-324.
Y. P. Hsin, R. W. Longman,
E. J. Solcz, and J. deJong, “Stabilization due to Finite Word Length in
Repetitive and Learning Control,” Advances
in the Astronautical Sciences, Vol. 97, 1998, pp. 817-836.
Y. P. Hsin, R. W. Longman,
E. J. Solcz, and J. deJong, “A Repetitive Control Law Designed to Eliminate
Periodic Measurement Disturbances,” Advances
in the Astronautical Sciences, Vol. 97, 1998, pp. 837-849.
R. W. Longman and C. P. Lo,
“Generalized Holds, Ripple Attenuation, and Tracking Additional Outputs in
Discrete Time Learning Control,” Journal
of Guidance, Control and Dynamics, Special Issue on Nonlinear Dynamics,
Vol. 20, No. 6, Nov.-Dec, 1997, pp. 1207-1214.
Y. P. Hsin, R. W. Longman,
E. J. Solcz, and J. de Jong, “Experimental Comparisons of Four Repetitive
Control Algorithms,” Proceedings of the
31st Annual Conference on Information Sciences and Systems, Johns Hopkins
University, Department of Electrical and Computer Engineering, Baltimore,
Maryland, 1997, pp. 854-860.
H. P. Wen and R. W. Longman,
“Conditions for Convergence in Indirect Adaptive Control Based Learning
Control,” Advances in the Astronautical
Sciences, Vol. 95, 1997, pp. 623-642.
S. J. Oh, R. W. Longman, and
M. Q. Phan, “Use of Decoupling Basis Functions in Learning Control for Local
Learning and Improved Transients,” Advances
in the Astronautical Sciences, Vol. 95, 1997, pp. 651-670.
Y. P. Hsin, R. W. Longman,
E. J. Solcz, and J. de Jong, “Experiments Bridging Learning and Repetitive
Control,” Advances in the Astronautical
Sciences, Vol. 95, 1997, pp. 671-690.
R. W. Longman, “Design
Methodologies in Learning and Repetitive Control,” Proceedings of the 2nd Asian Control Conference, Vol. 2, Seoul,
Korea, July 22-25, 1997, pp. 39-42.
R. W. Longman and Y. P.
Hsin, “On the Need for Stabilizing and the Methods of Stabilizing Repetitive
and Learning Controllers,” Proceedings of
the 35th Annual Allerton Conference on Communication, Control, and Computing,
Coordinated Sciences Laboratory, University of Illinois at Urbana-Champaign,
Urbana, Illinois, Sept.-Oct. 1997, pp. 1067-1070.
G. Lee-Glauser, J.-N. Juang,
and R. W. Longman, “Comparison and Combination of Learning Controllers:
Computational Enhancement and Experiments,” Journal
of Guidance, Control and Dynamics, Vol. 19, No. 5, Sept.-Oct. 1996, pp.
1116-1123.
H. S. Jang and R. W.
Longman, “Design of Digital Learning Controllers using a Partial Isometry,” Advances in the Astronautical Sciences,
Vol. 93, 1996, pp. 137-152.
Y. Wang and R. W. Longman,
“Monotonic Vibration Suppression using Repetitive Control and Windowing
Techniques,” Advances in the
Astronautical Sciences, Vol. 93, 1996, pp. 945-965.
R. W. Longman and Y. Wang,
“Phase Cancellation Learning Control Using FFT Weighted Frequency Response
Identification,” Advances in the
Astronautical Sciences, Vol. 93, 1996, pp. 85-101.
Y. Wang and R. W. Longman,
“Use of Non-Causal Digital Signal Processing in Learning and Repetitive
Control,” Advances in the Astronautical
Sciences, Vol. 90, 1996, pp. 649-668.
R. W. Longman, “Learning and
Repetitive Control Design Methodologies,” Proceedings
of the Ninth Yale Workshop on Adaptive and Learning Systems, Yale
University, Department of Electrical Engineering, New Haven, CT, June 1996, pp.
124-129.
R. W. Longman, “The Range of
Possible Iterative Learning Control Laws to Optimize Robot Tracking,” ZAMM (Zeitschrift fur Angewandte Mathematik und Mechanik), Special Issue
on Applied Stochastics and Optimization, Vol. 76, Supplement No. 3, 1996, pp.
287-290..
J. S. Jang and R. W.
Longman, “An Update on a Monotonic Learning Control Law and Some Fuzzy Logic
Learning Gain Adjustment Techniques,” Advances
in the Astronautical Sciences, Vol. 90, 1996, pp. 301-318.
B. Fabien and R. W. Longman,
“State Space Learning and Repetitive Control,” Proceedings of the 1995 International Mechanical Engineering Congress
and Exposition, ASME, Dynamic Systems and Control Division, DSC-Vol. 57-1,
Nov. 1995, pp. 595-602.
R. W. Longman, “Learning
Control, Repetitive Control, and Vibration Annihilation,” Plenary Lecture, Proceedings of the International Conference
on Structural Dynamics, Vibration, Noise and Control, Hong Kong, 5-7
December, 1995, pp. 80-85.
H.
S. Jang and R. W. Longman, “A New Learning Control Law with Monotonic Decay of
the Tracking Error Norm,” Proceedings of
the Thirty-Second Annual Allerton Conference on Communication, Control, and
Computing, Monticello, Illinois, Sept. 1994, pp. 314-323.
Y.
S. Ryu, R. W. Longman, E. J. Solcz, and J. de Jong, “Experiments in the use of
Repetitive Control in Belt Drive Systems,” Proceedings
of the Thirty-Second Annual Allerton Conference on Communication, Control, and
Computing, Monticello, Illinois, Sept. 1994, Sept. 1994, pp. 324-334.
Y.-P. Wang and R. W. Longman, “Limit Cycle Behavior
and Convergence to Zero Tracking Error in Learning Control with Stick-Slip
Friction,” Proceedings of the 1994 IEEE
International Conference on Systems, Man, and Cybernetics, San Antonio, TX,
Oct. 1994, pp. 2774-2779.
S.
C. Lee and R. W. Longman, and M. Phan, “Direct Model Reference Learning and
Repetitive Control,” Advances in the
Astronautical Sciences, Vol. 85, 1994, pp. 2047-2066.
Y. S.
Ryu and
R. W. Longman, “Indirect Learning Control for Nonlinear Dynamical Systems,” Advances in the Astronautical Sciences,
Vol. 82, 1993, pp. 79-91.
S.
C. Lee and R. W. Longman, “Indirect Decentralized Repetitive Control,” Advances in the Astronautical Sciences,
Vol. 82, 1993, pp. 93-109.
Longman, R. W., Phan, M.,
and Juang, J.-N., “An Overview of a Sequence of Research Developments in
Learning and Repetitive Control,” Proceedings
of the First International Conference on Motion and Vibration Control (MOVIC),
Yokohama, Japan, September 1992, pp. 952-957. (An updated version appears in
the Proceedings of the
Industry/Government Forum on Adaptive Neural Control for Aerospace Structural
Systems, Harris Corporation, Melbourne, Florida, August 1993.)
Y.
S. Ryu and
R. W. Longman, “Indirect Learning Control for Nonlinear Dynamical Systems,” Advances in the Astronautical Sciences,
Vol. 82, 1993, pp. 79-91.
Solcz, E. J., and Longman,
R. W., “Robustness of Repetitive Controllers to Frequency Uncertainties,” Proceedings of the 1992 Conference on
Information Sciences and Systems, Department of Electrical Engineering,
Princeton University, March 1992.
Longman, R. W., and Ryu, Y.
S., “Indirect Learning Control Algorithms for Time-Varying and Time-Invariant
Systems,” Proceedings of the Thirtieth
Annual Allerton Conference on Communication, Control and Computing,
Coordinated Sciences Laboratory, University of Illinois at Urbana-Champagn,
Urbana, Illinois, Sept.-Oct. 1992, pp. 731-741.
R.
W. Longman, S. C. Lee, and M. Phan, “Indirect Decentralized Learning Control,” Advances in the Astronautical Sciences,
Vol. 79, 1992, pp. 371-386.
E.
J. Solcz and R. W. Longman, “Repetitive Control in the Presence of Multiple
Periodic Disturbances,” A Collection of
Technical Papers, 1992 AIAA/AAS Astrodynamics Specialist Conference, Hilton
Head, South Carolina, August 1992, pp. 486-500.
R.
W. Longman, C.-K. Chang, and M. Phan, “Discrete Time Learning Control in
Nonlinear Systems,” A Collection of
Technical Papers, 1992 AIAA/AAS Astrodynamics Specialist Conference, Hilton
Head, South Carolina, August 1992, pp. 501-511.
C.
K. Chang, R. W. Longman, and M. Phan, “Techniques for Improving Transients in
Learning Control Systems,” Advances in
the Astronautical Sciences, Vol. 76, 1992, pp. 2035-2052.
C.
S. Lee, R.W. Longman and M. Phan, “Linear Decentralized Learning Control,” Advances in the Astronautical Sciences,
Vol. 76, 1992, pp. 2023-2033.
E.
Solcz and R. W. Longman, “Disturbance Rejection in Repetitive Controllers,” Advances in the Astronautical Sciences,
Vol. 76, 1992, pp. 2111-2130.
H. S. M. Beigi, C. J. Li,
and R. W. Longman, “Learning Control Based on Generalized Secant Method and
other Numerical Optimization Methods,” 1991 ASME Winter Annual Meeting,
Atlanta, Georgia, Symposium on Sensors,
Controls, and Quality Issues in Manufacturing, PED-Vol. 55, December 1991,
pp. 163-175.
R. W. Longman and E. J.
Solcz, “Small Gain Robustness Issues in the P-Integrator Repetitive
Controller,” AIAA/AAS Astrodynamics
Conference, A Collection of Technical Papers, Part 2, Portland, Oregon,
August 1990, pp. 537-551.
R. W. Longman and C.-K.
Chang, “Learning Control for Minimizing a Quadratic Cost during Repetitions of
a Task,” AIAA/AAS Astrodynamics Conference, A Collection of Technical Papers,
Part 2, Portland, Oregon, August 1990, pp. 530-536.
M. Phan, J.-N. Juang, and R.
W. Longman, “Recent Developments in Learning Control and System Identification
for Robots and Structures,” Dynamics of
Flexible Structures in Space, Proceedings of the First International
Conference, Cranfield, England, May 1990, C. L. Kirk, and J. L. Junkins,
Editors, Computational Mechanics Publications, Southampton, Boston, and
Springer Verlag, New York, co-publishers, 1990, pp. 321-334.
J.
N. Juang, L. Horta, and R. W. Longman, “System Identification in the Repetition
Domain,” Advances in the Astronautical
Sciences, Vol. 71, 1990, pp. 1389-1400.
J.-N. Juang, L. G. Horta, M.
Phan, and R. W. Longman, “Learning System Identification for Flexible
Structures,” Proceedings of the 2nd
USAF/NASA Workshop on System Identification and Health Monitoring of Precision
Space Structures, California Institute of Technology, Pasadena, California,
March 1990.
M. Phan, R. W. Longman, and
J-N. Juang, “Indirect Repetitive Control for Linear Discrete Multivariable
Systems,” Proceedings of the 27th Annual
Allerton Conference on Communication, Control, and Computing, The
University of Illinois, Allerton House, Monticello, Illinois, September 1989,
pp.867-876.
M. Phan, Y. Wei, L. G.
Horta, J.-N. Juang, and R. W. Longman, “Learning Control for Slewing of a
Flexible Panel,” Dynamics and Control of
Large Structures, Proceedings of the Seventh VPI&SU Symposium, L.
Meirovitch, Editor, May 1989, pp. 39-52.
R. W. Longman, H. S. M.
Beigi and C. J. Li, “Learning Control by Numerical Optimization Methods,” Modeling and Simulation, Instrument
Society of America, Vol. 20, Part 5, 1989, pp. 1877-1882.
M. Phan and R. W. Longman,
“Learning System Identification,” Modeling
and Simulation, Instrument Society of America, Vol. 20, Part 5, 1989, pp.
1857-1864.
M. Phan and R. W. Longman,
“Indirect Learning Control with Guaranteed Stability,” Proceedings of the 1989 Conference on Information Sciences and Systems,
Johns Hopkins University, Baltimore, MD, 1989, pp.125-131.
M. Phan and R. W. Longman,
“Liapunov Based Model Reference Learning Control,” Proceedings of the Twenty-Sixth Annual Allerton Conference on
Communication, Control and Computing, The University of Illinois, Allerton
House, Monticello, Illinois, September 1988, pp. 927-936.
E. G. Harokopos and R. W.
Longman, “A Learning Controller for Tracking Arbitrary Inputs in Robot
Motions,” Proceedings of the Tenth IASTED
International Symposium on Robotics and Automation, Lugano, Switzerland,
June 29-July 2, 1987, pp. 29-33.
Kinematics, Intelligent Mechanisms, Morphing Mechanisms (back to top)
Intelligent Mechanisms,
Morphing Mechanisms
M. S. Chew, R. W. Longman,
and M. Q. Phan, “Intelligent Mechanisms,” Proceedings
of the 28th Biennial Mechanisms and Robotics Conference, ASME
Design Engineering Technical Conference DETC2004-57553, Salt Lake City, Utah,
Sept. 28-Oct. 3, 2004.
N. Phetkong, M. S. Chew, and
R. W. Longman, “Morphing Mechanisms Part 1: Using Iterative Learning Control to
Morph Cam Follower Motion,” American
Journal of Applied Sciences, Vol. 2, No. 5, 2005, pp. 897-903.
Conference version: N.
Phetkong, M.-S. Chew, and R. W. Longman, “Morphing Mechanisms: Using Iterative
Learning Control to Morph Cam Follower Motion,” Proceedings of the International Symposium on Robotics and Automation,
Querétaro, Mexico, August 2004.
N. Phetkong, M. S. Chew, and
R. W. Longman, “Morphing Mechanisms Part 2: Using Repetitive Control to Morph
Cam Follower Motion,” American Journal of
Applied Sciences, Vol. 2, No. 5, 2005, pp. 904-909.
H.-J. Chen, R. W. Longman,
M.-S. Chew, “Eliminating Structural Error in Real-Time Adjustable Four-Bar Path
Generators using Iterative Learning Control,” Proceedings of the 28th Biennial Mechanisms and Robotics
Conference, ASME Design Engineering Technical Conference DETC2004-57573,
Salt Lake City, Utah, Sept. 28-Oct. 3, 2004.
Cam Design Using Optimal
Control
M. Chew, F. Freudenstein and
R. W. Longman, “Application of Optimal Control Theory to the Synthesis of
High-Speed Cam-Follower Systems. Part I: Optimality Criterion,” ASME Transactions,
Journal of Mechanisms, Transmissions, and
Automation in Design, Vol. 105, No. 3, September 1983, pp. 577-584.
M. Chew, F. Freudenstein,
and R. W. Longman, “Application of Optimal Control Theory to the Synthesis of
High-Speed Cam-Follower Systems. Part II: System Optimization,” ASME Transactions,
Journal of Mechanisms, Transmissions, and
Automation in Design, Vol. 105, No. 3, September 1983, pp. 585-591.
S. Mennicke, R. W. Longman,
M.-S. Chew, and H. G. Bock, “High Speed Automotive Cam Design using Direct
Multiple Shooting Optimal Control Techniques,” Proceedings of the 28th Biennial Mechanisms and Robotics
Conference, ASME Design Engineering Technical Conference DETC2004-57415,
Salt Lake City, Utah, Sept.-Oct. 2004.
S. Mennicke, R. W. Longman,
M.-S. Chew, and H. G. Bock, “A CAD Package for High-Speed Cam Design Based on
Direct Multiple Shooting Optimal Control Techniques,” Proceedings of the 30th ASME Design Automation Conference, ASME Design Engineering Technical
Conference DETC2004-57410, Salt Lake City, Utah, Sept.-Oct. 2004.
J.-G. Sun, R. W. Longman and
F. Freudenstein, “Determination of Appropriate Cost Functionals for
Cam-Follower Design using Optimal Control Theory,” Proceedings of the 1984 American Control Conference, San Diego,
Calif., June 1984, American Automatic Control Council, pp. 1799-1800.
J.-G. Sun, R. W. Longman,
and F. Freudenstein, “Objective Functions for Optimal Control in Cam Follower
Systems,” International Journal for
Manufacturing Science and
Technology, Vol. 8, No. 2, 2006.
(Chinese version: Jianguo Sun, R. W. Longman, and
F. Freudenstein, “An Optimization Design Approach of High-Speed Cam-Follower
Systems,” Chinese Journal of Mechanical
Engineering, Vol. 27, No. 1, Feb. 1991, pp. 1-7. Conference version: Proceedings of the 4th Asian
Conference on Industrial Automation and Robotics, May 2005, Bangkok,
Thailand.)
B. C. Fabien, R. W. Longman,
and F. Freudenstein, “The Design of High-Speed Dwell-Rise-Dwell Cams using
Linear Quadratic Optimal Control Theory,” ASME Transactions, Journal of Mechanical Design, Vol. 116,
No. 3, Sept. 1994, pp. 867-874.
H. G. Bock, R. W. Longman,
J. P. Schloeder, and M. Winckler, “Synthesis of Automotive Cams using Multiple
Shooting - SQP Methods for Constrained Optimization,” Mathematics: Key Technology for the Future, W. Jaeger, Editor,
Springer Verlag, 2001.
H. Yau and R. W. Longman, “Modeling
of Non-Ideal Variable Pitch Valve Springs for Use in Automotive Cam Optimization,”
Proceedings of the 4th
International Conference on High Performance Scientific Computing: Modeling,
Simulation and Optimization of Complex Processes, Hanoi, Vietnam, March
2009, to appear.
Other Kinematics and
Stability Problems
R. W. Longman and F.
Freudenstein, “Stability Analysis of Lifting Rigs. Part I: Necessary and
Sufficient Conditions,” ASME Transactions, Journal
of Engineering for Industry, Vol. 97, Series B, No. 2, May 1975, pp.
532-536. (Also presented as Paper No. 74-DET-31, ASME Mechanisms Conference,
New York, New York, October 1974.)
R. W. Longman and F.
Freudenstein, “Stability Analysis of Lifting Rigs. Part II: Sufficient
Stability Criteria and Design Guidelines,” ASME Transactions, Journal of Engineering for Industry,
Vol. 97, Series B, No. 2, May 1975, pp. 537-541. (Also presented as Paper No.
74-DET-32, ASME Mechanisms Conference, New York, New York, October 1974.)
B. C. Fabien, R. W. Longman,
and F. Freudenstein, “The Stability of Lifting Rigs with Offset Loads,” The Journal of Mechanics and Structures,
Vol. 19, No. 1, 1991, pp. 193-211.
R. W. Longman, “On the
Relationship between Liapunov Stability and Stability under Persistent
Disturbances for Lifting Rigs,” Theoretical
and Applied Mechanics, Vol. 1, Proceedings of the Second National Congress
on Theoretical and Applied Mechanics, Varna, Bulgaria, October 1973, published
by the Bulgarian Academy of Sciences, 1975, pp. 220-230.
F. Freudenstein, C.-K. Chen
and R. W. Longman, “Kinematic Analysis of Robotic Bevel Gear Trains,”
Transactions of the ASME, Journal of
Mechanisms, Transmissions and Automation in Design, Vol. 106, 1984,
pp.371-375.
(Reprinted by request as: F.
Freudenstein, R. W. Longman and C.-K. Chen, Gear
Technology, The Journal of Gear Manufacturing, November-December 1986, pp.
8-13, 48.
System Identification, Damage Detection in Structures (back to top)
Some Basic or Overview
Papers:
J.-N.
Juang, M. Phan, L. G. Horta, and R. W. Longman, “Identification of
Observer/Kalman Filter Markov Parameters: Theory and Experiments,” Journal of Guidance, Control, and Dynamics,
Vol. 16, No. 2, March-April 1993, pp. 320-329.
J.-N. Juang and R. W.
Longman, Optimized System Identification,
NASA Technical Memorandum, NASA-99-TM 209711, 1999.
M. Phan, L. G. Horta, J.-N.
Juang, and R. W. Longman, “Improvement of Observer/Kalman Filter Identification
(OKID) by Residual Whitening,” Journal of
Vibrations and Acoustics, Vol. 117, April 1995, pp. 232-239.
M.
Phan, J.-N. Juang, L. G. Horta, R. W. Longman, “System Identification from
Closed-Loop Data with Known Output Feedback Dynamics,” Journal of Guidance, Control and Dynamics, Vol. 17, No. 4,
July-August 1994, pp. 661-669.
D.-H. Tseng, R. W. Longman, and J.-N. Juang, “Identification of the
Structure of the Damping Matrix in Second Order Mechanical Systems,” Advances in the Astronautical Sciences,
Vol. 87, 1994, pp. 167-190.
M. Q. Phan and R. W.
Longman, “Extracting Mass, Stiffness, and Damping Matrices of Mechanical
Systems from Identified State-Space Models,” Proceedings of the AIAA Guidance, Navigation, and Control Conference,
Providence, RI, August 2004.
M. Q. Phan, R. W. Longman,
J.-N. Juang, “Identification of Linear Time-Varying Systems by a Canonical
Representation,” Advances in the
Astronautical Sciences, Vol. 135, pp. 1401-1415, to appear.
M. Q. Phan, R. W. Longman,
J.-N. Juang, “A Direct Method for Identifying Linear Time-Varying State-Space
Models,” Advances in the Astronautical
Sciences, Vol. 135, pp. 161-174, to appear.
M. De Angelis, H. Lus, R. Betti, and R. W. Longman,
“Extracting Physical Parameters of Mechanical Systems from Identified State
Space Representations,” ASME Journal of
Applied Mechanics, Vol. 69, No. 5, 2002, pp. 617-625.
H. Lus, R. Betti, and R. W.
Longman, “Obtaining Refined First-Order Predictive Models of Linear Structural
Systems,” Earthquake Engineering and
Structural Dynamics, Vol. 31, 2002, pp. 1413-1440.
H. Lus, M. De Angelis, R.
Betti, and R. W. Longman, “Constructing Second-Order Models of Mechanical
Systems from Identified State Space Realizations. Part 1: Theoretical
Discussion,” ASCE, Journal of Engineering
Mechanics, May 2003, pp. 477-487.
H. Lus, M. De Angelis, R.
Betti, and R. W. Longman, “Constructing Second-Order Models of Mechanical
Systems from Identified State Space Realizations. Part 1I: Numerical
Investigations,” ASCE, Journal of
Engineering Mechanics, May 2003, pp. 489-501.
D. Hyland, J. L. Junkins,
and R. W. Longman, “Active Control Technology for Large Space Structures,” Journal of Guidance, Control and Dynamics,
Vol. 16, No. 5, September-October, 1993, pp. 801-821.
(Commissioned survey paper
on modeling, identification, and control of large space structures.)
Additional General
Identification Papers:
J.-N. Juang, L. G. Horta,
and R. W. Longman, “Input/Output System Identification: Learning from Repeated
Experiments,” Chapter 5 of Mechanics and Control of Large Flexible
Structures, J. L. Junkins, Editor, Progress in Astronautics and
Aeronautics, Vol.129, American Institute of Aeronautics and Astronautics,
Washington, DC, 1990, pp.87-99.
R. W. Longman and J.-N.
Juang, “A Variance Based Confidence Criterion for ERA Identified Modal
Parameters,” Advances in the
Astronautical Sciences, Vol. 65, 1988, pp. 581-601.
R. W. Longman, M. Bergmann
and J.-N. Juang, “Variance and Bias Confidence Criteria for ERA Modal Parameter
Identification,” Proceedings of the
AIAA/AAS Astrodynamics Conference, Minneapolis, Minnesota, August 1988, pp.
729-739.
R. W. Longman and J.-N.
Juang, “Recursive Form of the Eigensystem Realization Algorithm for System
Identification,” Journal of Guidance,
Control and Dynamics, Vol. 12, No. 5, Sept.-Oct. 1989, pp.647-652.
M. Bergmann, R. W. Longman, and
J. N. Juang, “Variance and Bias Computation for Enhanced System
Identification”, Proceedings of the 28th
IEEE Conference on Decision and Control, Tampa, Florida, December 1989, pp.
155-161.
M. Phan, J.-N. Juang, and R.
W. Longman, “On Markov Parameters in System Identification,” Society for
Experimental Mechanics, Proceedings of
the 9th International Modal Analysis Conference, Florence, Italy, April
1991. (Also, NASA Technical Memorandum
104156, October 1991.)
R.
W. Longman, J.-N. Juang, and M. Phan, “Input and Output Matrices in Modal
Identification,” Society for Experimental Mechanics, Proceedings of the 9th International Modal Analysis Conference,
Florence, Italy, April 1991. (Also, R. W. Longman, J.-N. Juang, and M. Phan,
“Input-Output Matrices in Modal Identification,” NASA Technical Memorandum TM-107633, NASA Langley Research Center,
Hampton, VA, June 1992.)
R. W. Longman, J.-S. Lew,
D.-H. Tseng, and J.-N. Juang, “Variance
and Bias Computation for Improved Modal Identification Using ERA/DC,” Proceedings of the American Control
Conference, Boston, Massachusetts, May 1991.
M. Phan, L. G. Horta, J.-N.
Juang, and R. W. Longman, “Identification of Observer/Kalman Filter Markov
Parameters Using Limited Experimental Data,” Proceedings of the Eighth VPI&SU Symposium on Dynamics and Control
of Large Structures, May 1991.
M. Phan, L. G. Horta, J.-N.
Juang, and R. W. Longman, Identification
of Linear Systems via an Asymptotically Stable Observer, (a unified
treatment of material appearing in a series of publications), NASA Technical
Paper 3164, 1992.
M. Phan, J.-N. Juang, and R.
W. Longman, “Identification of Linear Multivariable Systems by Identification
of Observers with Assigned Real Eigenvalues,” Journal of the Astronautical Sciences, Vol. 40, No. 2, April-June
1992, pp. 261-279.
D.-H.
Tseng, R. W. Longman, J.-N. Juang, and C.-W. Chen, “Variance and Bias
Confidence Criteria for System and Observer/Kalman Filter Identification,” Proceedings of the Thirtieth Annual Allerton
Conference on Communication, Control, and Computing, Monticello, Illinois,
Sept.-Oct. 1992, pp. 98-109.
R.
W. Longman, J.-S. Lew, and J.-N. Juang, “Comparison of Candidate Methods to
Distinguish Noise Modes from System Modes in Structural Identification,” A Collection of Technical Papers, The 33rd
AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference
(SDM), Part 4, Structural Dynamics II, Dallas, Texas, April 1992, pp.
2307-2317.
L.
G. Horta, M. Phan, J.-N. Juang, R. W. Longman, and J. Sulla, “Frequency
Weighted System Identification and Linear Quadratic Controller Design,” Journal of Guidance, Control and Dynamics,
Vol. 16, No. 2, March-April 1993, pp. 330-336.
J.-S. Lew, J.-N. Juang, and
R. W. Longman, “Comparison of Several System Identification Methods for
Flexible Structures,” Journal of Sound
and Vibration, Vol. 167, No. 3, 1993, pp. 461-480.
M.
Phan, L. G. Horta, J.-N. Juang, and R. W. Longman, “Linear System
Identification Via an Asymptotically Stable Observer,” Journal of Optimization Theory and Application, Vol. 79, No. 1,
October 1993, pp. 59-86.
L.
G. Horta, J.-N. Juang, R. W. Longman, “Discrete-Time Model Reduction in Limited
Frequency Ranges,” Journal of Guidance,
Control and Dynamics, Vol. 16, No. 6, November-December, 1993, pp.
1125-1130.
M. Q. Phan and R. W.
Longman, “Relationship between State-Space and Input-Output Models via Observer
Markov Parameters,” Proceedings of the
3rd International Conference on Dynamics and Control of Structures in Space,
London, England, 27-31 May, 1996.
M. Q. Phan, J.-N. Juang, and
R. W. Longman, “Markov Parameters in System Identification: Old and New
Concepts,” Structronic Systems: Smart
Structures, Devices, and Systems, Vol. 2: Systems and Control (H.-S. Tsou
and A. Guran, Editors), World Scientific Publishing Co., Singapore, 1997, pp.
263-293.
R. K. Lim, M. Q. Phan, and
R. W. Longman, “State-Space System Identification with Identified Hankel
Matrix,” Department of Mechanical and Aerospace Engineering Technical Report
No. 3045, Princeton University, Princeton, NJ, September 1998.
H. Lus, R. Betti, and R. W.
Longman, “Identification of Structural Systems using General Input Data,” Proceedings of IMAC-XVII, Kissimmee, FL,
1999, pp. 153-158.
H. Lus, R. Betti, and R. W.
Longman, “Identification of Linear Structural Systems Using Earthquake Induced
Vibration Data,” Earthquake Engineering
and Structural Dynamics, Vol. 28, 1999, pp. 1449-1467. (Also, Proceedings of the 14th ASCE
Engineering Mechanics Conference, Baltimore, MD, 1999.)
H. Lus, R. Betti, and R. W.
Longman, “Obtaining Refined First-Order Predictive Models of Linear Structural
Systems,” Earthquake Engineering and
Structural Dynamics, Vol. 31, 2002, pp. 1413-1440.
M. Q. Phan, R. W. Longman,
S. C. Lee, and J.-W. Lee, “System Identification from Multiple-Trial Data
Corrupted by Non-Repeating Periodic Disturbances,” International Journal of Applied Mathematics and Computer Science,
Vol. 13, No. 2, 2003, pp. 185-192.
Identification of Second
Order Structural Mechanics Models from State Space Models:
S. W. Sirlin, R. W. Longman
and J. N. Juang, “Identification of General Linear Mechanical Systems,” The Proceedings of the 1983 American Control
Conference, American Automatic Control Council, San Francisco, CA, June
1983, pp. 984-988.
S. W. Sirlin, R. W. Longman
and J. N. Juang, “Identifiability of Conservative Linear Mechanical Systems,” The Journal of the Astronautical Sciences,
Vol. 33, No. 1, January-March 1985, pp. 95-118. (An earlier version appears as
“Identification of Conservative Linear Mechanical Systems,” Proceedings of the Twentieth Annual Allerton
Conference on Communication, Control, and Computing, The University of
Illinois, Allerton House, Monticello, Illinois, October 1982, pp. 321-330.)
D.-H.
Tseng, R. W. Longman, and J.-N. Juang, “Identification of a Second-Order
Mechanical System Model from a State Space Realization,” Advances in the Astronautical Sciences, Vol. 82, 1993, pp. 347-360.
D.-H. Tseng, R. W. Longman, and J.-N. Juang, “Identification of
Gyroscopic and Nongyroscopic Second Order Mechanical Systems Including Repeated
Root Problems,” Advances in the
Astronautical Sciences, Vol. 87, 1994, pp. 145-165.
D.-H. Tseng, R. W. Longman, and J.-N. Juang, “Identification of the
Structure of the Damping Matrix in Second Order Mechanical Systems,” Advances in the Astronautical Sciences,
Vol. 87, 1994, pp. 167-190.
M. Q. Phan and R. W.
Longman, “Extracting Mass, Stiffness, and Damping Matrices of Mechanical
Systems from Identified State-Space Models,” Proceedings of the AIAA Guidance, Navigation, and Control Conference,
Providence, RI, August 2004.
H. Lus, R. Betti, and R. W.
Longman, “Damage Identification in Linear Structural Systems,” Proceedings of the 15th ASCE
Engineering Mechanics Conference, Austin, TX, 2000.
M. De Angelis, H. Lus, R. Betti, and R. W. Longman, “A
New Methodology for the Identification of Reduced Order Models of Structural
Systems,” ASCE –ASME Engineering
Mechanics Conference, San Diego, CA, 2001.
M. De Angelis, H. Lus, R. Betti, and R. W. Longman,
“Extracting Physical Parameters of Mechanical Systems from Identified State
Space Representations,” ASME Journal of
Applied Mechanics, Vol. 69, No. 5, 2002, pp. 617-625.
M. De Angelis, H. Lus, R. Betti, and R. W. Longman,
“Issues in Reduced Order Modelling of Mechanical Systems”, Proceedings of the 15th ASCE Engineering Mechanics
Conference, New York, NY, 2002.
H. Lus, J. Yu, R. Betti, and R. W. Longman, “System
Identification and Health Monitoring Using a Hybrid State Space / Physical
Parameter Approach,” Proceedings of the
ASCE Structures Congress, Denver, CO, 2002.
H. Lus, M. De Angelis, R.
Betti, and R. W. Longman, “Constructing Second-Order Models of Mechanical Systems
from Identified State Space Realizations. Part 1: Theoretical Discussion,” ASCE, Journal of Engineering Mechanics, May
2003, pp. 477-487.
H. Lus, M. De Angelis, R.
Betti, and R. W. Longman, “Constructing Second-Order Models of Mechanical
Systems from Identified State Space Realizations. Part 1I: Numerical
Investigations,” ASCE, Journal of
Engineering Mechanics, May 2003, pp. 489-501.
G. Franco, R. Betti, and R.
W. Longman, “On the Uniqueness of Solutions for the Identification of Linear
Structural Systems,” Transactions of the ASME, Journal of Applied Mechanics, Vol. 73, No. 1, January 2006, pp.
153-162.
Damage Detection:
H. Lus, R. Betti, and R. W.
Longman, “Damage Identification in Linear Structural Systems,” Proceedings of the 15th ASCE
Engineering Mechanics Conference, Austin, TX, 2000.
M. De Angelis, H. Lus, R. Betti, and R. W. Longman, “A
New Methodology for the Identification of Reduced Order Models of Structural
Systems,” ASCE –ASME Engineering
Mechanics Conference, San Diego, CA, 2001.
J.-W. Lin, H. Lus, R. Betti, A. W. Smyth, and R. W.
Longman, “Damage Detection in Linear and Nonlinear Systems,” 3rd US/ Japan Workshop on
Nonlinear Identification and Structural Health Monitoring, Los Angeles, CA,
October 2000.
J.-W. Lin, R. Betti, R. W. Longman, and A. W. Smyth,
“On-Line Parametric Identification of Nonlinear Hysteretic Structures,” Proceedings of the Fifteenth ASCE
Engineering Mechanics Conference, Austin, TX, 2000.
J.-W. Lin, R. Betti, A. W. Smyth, R. W. Longman,
“On-Line Identification of Non-Linear Hysteretic Structural Systems using a
Variable Trace Approach,” Earthquake
Engineering and Structural Dynamics, Vol. 30, 2001, pp. 1279-1303.
H. Lus, J. Yu, R. Betti, and R. W. Longman, “System
Identification and Health Monitoring Using a Hybrid State Space / Physical
Parameter Approach,” Proceedings of the
ASCE Structures Congress, Denver, CO, 2002.
Robot Time Optimal Control, Time Optimal Path Planning (back to top)
The Behavior of Time Optimal
Solutions, Numerical Solution
G. Giese, R. W. Longman, and
H. G. Bock, “Understanding how Minimum-Time Control Optimizes Link Interaction
Forces in Polar Coordinate Robots,” Advances
in the Astronautical Sciences, Vol. 102, 1999, pp. 223-242.
G. Giese, R. W. Longman, and
H. G. Bock, “The Optimized Interaction Forces in Minimum Time Control of Elbow
and SCARA Robots,” Advances in the
Astronautical Sciences, Vol. 103, 1999, pp. 653-672.
G. Giese, R. W. Longman, and
H. G. Bock, “Time-Optimal Elbow Robot Motion,” International Journal of Robotics and Automation, IASTED, Vol. 20, No. 4, 2005.
M.
Steinbach, H. G. Bock, and R. W. Longman, “Time-Optimal Extension or Retraction
of Robots: Numerical Analysis of the Switching Structure,” Journal of Optimization Theory and Applications, Vol. 84, No.3,
March 1995, pp. 589-616.
M. Steinbach, H. G. Bock,
and R. W. Longman, “Time Optimal Control of SCARA Robots,” AIAA Guidance, Navigation and Control Conference, A Collection of
Technical Papers, Part 1, Portland, Oregon, August 1990, pp. 707-716.
J. Konzelmann, H. G. Bock,
and R. W. Longman, “Time Optimal Trajectories of Polar Robot Manipulators by
Direct Methods,” Modeling and Simulation,
Instrument Society of America, Vol. 20, Part 5, 1989, pp. 1933-1939.
J. Konzelmann, H. G. Bock,
and R. W. Longman, “Time Optimal Trajectories of Elbow Robots by Direct
Methods,” Proceedings of the 1989 AIAA
Guidance, Navigation, and Control Conference, Boston, August 1989, Part 2,
pp. 895-910.
B. Hartel, M. Steinbach, H.
G. Bock, and R. W. Longman, “The Influence of Friction on Time Optimal Robot
Trajectories,” Proceedings of the 35th Annual Allerton Conference on Communication,
Control, and Computing, Coordinated Sciences Laboratory, University of
Illinois at Urbana-Champaign, Urbana, Illinois, Sept.-Oct. 1997, pp. 817-826.
M. Mössner-Beigel, M.
Steinbach, H. G. Bock, and R. W. Longman, “Time Optimal Path Planning in Polar
Robots with Joint Flexibility,” Advances
in the Astronautical Sciences, Vol. 97, 1998, 1801-1820.
H. G. Bock, J. P. Schloder,
M. C. Steinbach, H. G. Worm, V. H. Schulz, and R. W. Longman, “Schnelle Roboter
am Fliessband: Mathematische Bahnoptimerung in der Praxis,” in K.-H. Hoffmann,
W. Jager, T. Lohmann, and H. Schunck, editors, Mathematik – Schlusseltechnologie fur die Sukunft, Springer Verlag, 1997, pp.
539-550.
M. C. Steinbach, H. G. Bock,
G. V. Kostin, R. W. Longman, “Mathematical Optimization in Robotics: Towards
Automated High Speed Motion Planning,” Surveys
on Mathematics for Industry, Vol. 7, No. 4, 1998, pp. 303-340. (Also,
University of Heidelberg IWR Preprint 1997-01, and ZIB Preprint SC-97-03,
Berlin).
Choice of Practical
Optimization Criterion, Dealing with Flexibility, Modeling Hardware
Limitations, Making Feedback Controllers do the Optimal Trajectory, Developing
Improved Feedback Stategies
J. Li, R. W. Longman, M.
Steinbach, and H. G. Bock, “Issues in the Implementation of Time-Optimal Path
Planning,” Symposium on Nonlinear
Dynamics, AIAA Aerospace Sciences Meeting, Reno, Nevada, January 1997, pp.
517-527.
J. Li, R. W. Longman, V. H.
Schulz, and H. G. Bock, “The Choice of Appropriate Cost Functionals for
Optimizing the Operating Speed of Robots,” Advances
in the Astronautical Sciences, Vol. 97, 1998, pp. 1821-1840.
J. Li, R. W. Longman, V. H.
Schulz, and H. G. Bock, “Implementing Time Optimal Robot Maneuvers using
Realistic Actuator Constraints and Learning Control,” Advances in the Astronautical Sciences, Vol. 99, 1998, pp. 355-374.
P. M. Krämer-Eis, H. G.
Bock, R. W. Longman, and J. P. Schlöder, “Numerical Determination of Optimal
Feedback Control in Nonlinear Problems with State/Control Constraints,” Advances in the Astronautical Sciences,
Vol. 105, 2000, pp. 53-71.
J. Zhao and R. W. Longman,
“Predictive Feedback Control for Implementing Optimal Point-to-Point
Trajectories Followed by Regulation,” Advances
in the Astronautical Sciences, Vol. 119, 2005, pp. 1601-1620.
J. Zhao, M. Diehl, R. W.
Longman, H. G. Bock, and J. P. Schlöder, “Nonlinear Model Predictive Control of
Robots Using Real-Time Optimization, “ Proceedings
of the 2004 AIAA/AAS Astrodynamics Specialist Conference, Providence, RI,
August 2004.
J. Zhao, R. W. Longman, H.
G. Bock, and M. Diehl, “Inverse Dynamics Approach to Real-Time Optimal Control
of Robots,” Advances in the Astronautical
Sciences, Vol. 120, 2005, pp. 1023-1042.
Robotics in Space (back to top)
R. W. Longman and R. E.
Lindberg, Guest Editors, Special Issue on Robotics in Space, The Journal of the Astronautical Sciences,
Vol. 38, No. 4, October 1990.
R. W.
Longman, R. E. Lindberg and M. F. Zedd,
“Satellite-Mounted Robot Manipulators -- New Kinematics and Reaction Moment
Compensation,” International Journal of
Robotics Research, MIT Press, Vol. 6, No. 3, Fall 1987, pp. 87-103.
Conference
version appears in A Collection of
Technical Papers, AIAA Guidance,
Navigation and Control Conference, Snowmass, Colorado, August 1985, pp.
278-290.
R. E. Lindberg, R. W.
Longman, and M. F. Zedd, “Kinematic and Dynamic Properties of an Elbow
Manipulator Mounted on a Satellite,” Chapter 1 in Space Robotics: Dynamics and Control, Y. Xu and T. Kanade, editors,
Kluwer Academic Publishers, Boston, 1993, pp. 1-25.
Reprinted from: The Journal of the Astronautical Sciences,
Vol. 38, No. 4, October-December 1990, pp.397-421.
Conference version
“Kinematics and Reaction Moment Compensation for a Spaceborne Elbow
Manipulator,” AIAA-86-0250, AIAA 24th Aerospace Science Meeting, Reno, Nevada,
January, 1986.
R. W. Longman, “The Kinetics
and Workspace of a Satellite-Mounted Robot,” Chapter 2 in Space Robotics: Dynamics and Control, Y. Xu and T. Kanade, editors,
Kluwer Academic Publishers, Boston, 1993, pp. 27-44.
Reprinted from: The Journal of the Astronautical Sciences,
October-December 1990, Vol. 38, No. 4, pp.423-440.
Conference version “The
Kinetics and Workspace of a Robot Mounted on a Satellite that is Free to Rotate
and Translate,” Proceedings of the AIAA
Guidance, Navigation, and Control Conference, Minneapolis,
Minnesota, August 1988, pp.374-381.
R. W. Longman, “Attitude
Tumbling due to Flexibility in Satellite-Mounted Robots,” The Journal of the Astronautical Sciences, October-December 1990,
Vol. 38, No. 4, pp.487-509.
Conference version appears
in the Proceedings of the AIAA Guidance,
Navigation, and Control Conference, Minneapolis, Minnesota, August 1988,
pp.365-373.
V. H. Schulz, R. W. Longman,
and H. G. Bock, “Computer Aided Motion Planning for Satellite Mounted Robots,” Journal of Mathematical Methods in the
Applied Sciences, Vol. 21, 1998, pp. 733-755.
V.
H. Schulz, H. G. Bock, and R. W. Longman, “Optimal Path Planning in Satellite
Mounted Robot Manipulators,” Advances in
the Astronautical Sciences, Vol. 82, 1993, pp. 311-329.
V. H. Schulz, H. G. Bock, and R. W. Longman, “Shortest Paths for
Satellite Mounted Robot Manipulators,” Control
Applications of Optimization, R. Bulirsch and D. Kraft, editors,
International Series of Numerical Mathematics, Vol. 115, Birkhauser Verlag,
Basel, Switzerland, 1994, pp. 357-366.
R. W. Longman, V. H. Schulz,
and H. G. Bock, “Path Planning for Satellite Mounted Robots,” Keynote Lecture, Proceedings of the 3rd International
Conference on Dynamics and Control of Structures in Space, London, England,
27-31 May, 1996.
R. W. Longman, “Tutorial
Overview of the Dynamics and Control of Satellite-Mounted Robots,” Chapter 10, Teleoperation and Robotics in Space, C.
F. Ruoff and S. B. Skaar, Editors, Progress in Astronautics and Aeronautics
Series, Vol. 161, American Institute of Aeronautics and Astronautics, 1994, pp.
237-258.
R. W. Longman, “New Problems
in Space Flight Operations Introduced by Satellite Mounted Robots,” Keynote
Lecture, Proceedings of the 3rd
International Symposium on Spacecraft Flight Dynamics, Darmstadt, Germany,
a European Space Agency publication, October 1991.
Walking, Hopping, Somersaulting Robots and Robot Hands (back to top)
K. Mombaur, H. G. Bock, J.
P. Schlöder, and R. W. Longman, “Human-Like Actuated Walking that is
Asymptotically Stable Without Feedback,” Proceedings
of the 2001 IEEE International Conference on Robotics and Automation,
Seoul, Korea, May 2001, pp. 4128-4133.
K. Mombaur, R. W. Longman,
H. G. Bock, and J. P. Schlöder, “Stable One-Legged Hopping without Feedback and
with a Point Foot,” Proceedings of the
IEEE International Conference on Robotics and Automation, Washington, D.C.,
May 2002.
K. D. Mombaur, R. W.
Longman, H. G. Bock, and J. P. Schöder, “Open-Loop Stable Running,” Robotica, Vol. 23, No. 1, 2005, pp.
21-33.
K. D. Mombaur, H. G. Bock,
J. P. Schlöder, and R. W. Longman, “Open-Loop Stable Solution of Periodic
Optimal Control Problems,” Zeitschrift
Für Angewandte Mathematik und Mechanik (ZAMM), 2005, Vol. 85, No.
7, July 2005.
K. D. Mombaur, H. G. Bock,
J. P. Schlöder, and R. W. Longman, “Self-Stabilizing Somersaults,” IEEE Transactions on Robotics, Vol. 21,
No.6
, Dec. 2005.
R. W. Longman and K. D.
Mombaur, “Investigating the Use of Iterative Learning Control and Repetitive
Control to Implement Periodic Gaits,” Fast
Motions in Biomechanics and Robotics, Optimization and Feedback Control, M.
Diehl and K. Mombaur, Editors, Springer-Verlag, Berlin, Heidelberg, 2006, pp.
189-218.
K. D. Mombaur, R. W.
Longman, H. G. Bock, and J. P. Schloder, “Optimizing Spring-Damper Design in
Human Like Walking that is Asymptotically Stable Without Feedback,” Modeling, Simulation and Optimization of
Complex Processes, Bock, Kostina, Phu, and Rannacher Editors,
Springer-Verlag, Heidelberg, 2008, pp. 403-418.
K. D. Mombaur, H. G. Bock,
J. P. Schlöder, M. J. Winckler, and R. W. Longman, “Open-Loop Stable Control of
Running Robots -- A Numerical Method for Studying Stability in the Context of
Optimal Control Problems,” Proceedings of
the First International Symposium on Mobile, Climbing, and Walking Robots,
CLAWAR (CLimbing And WAlking Robots), Brussels,
Nov. 1998, pp. 89-94. (Also, University of Heidelberg IWR Technical Report
99-01.)
K. D. Mombaur, H. G. Bock,
and R. W. Longman, “Stable, Unstable, and Chaotic Motions of Bipedal Walking
Robots without Feedback,” Proceedings of
the 2nd International Conference on Control of Oscillations and
Chaos, Vol. 2, F. L. Chernousko, A. L. Fradkov, Editors, St. Petersburg,
Russia, July 2000, pp. 282-285.
K. D. Mombaur, H. G. Bock,
J. P. Schloeder, and R. W. Longman, “Stability Optimization of Periodic
Processes with Discontinuities,” Proceedings
of Operations Research 2003, Heidelberg, Germany, August 2003.
K. D. Mombaur, H. G. Bock,
J. P. Schöder, and R. W. Longman, “Stable Walking and Running Robots Without
Feedback,” Proceedings of CLAWAR 04,
Conference on Climbing and Walking Robots, Madrid, Sept. 2004.
K. D. Mombaur, H. G. Bock,
J. P. Schöder, and R. W. Longman, “Open Loop Stability – a New Paradigm for
Periodic Optimal Control and Analysis of Walking Mechanisms,” Proceedings of the IEEE Robotics,
Automation, and Mechatronics Conference, Singapore, Dec. 2004.
K. D. Mombaur, H. G. Bock, J. P. Schlöder, and R. W. Longman,
“Open-Loop Stable Control of Periodic Multibody Systems,” Modeling, Simulation and Optimization of Complex Processes, H. G.
Bock, E. Kostina, H. X. Phu, and R. Rannacher, Editors, Springer Verlag,
Heidelberg, Germany, 2005, pp. 369-382.
K. D. Mombaur, H. G. Bock,
J. P. Schlöder, and R. W. Longman, “Stability Optimization of Periodic Walking
and Running Motions,” German Mathematics Research Institute Oberwolfach,
Oberwolfach Reports No. 2/2005, Optimization and Applications, April 2005, pp.
105-107.
R. W. Longman and K. D.
Mombaur, “Investigating the Use of Iterative Learning Control and Repetitive
Control to Implement Periodic Gaits,” Fast
Motions in Biomechanics and Robotics, Optimization and Feedback Control, M.
Diehl and K. Mombaur, Editors, Springer-Verlag, Berlin, Heidelberg, 2006, pp.
189-218.
K. Zhang, M. Sun, K. D.
Lester, F. X. Pi-Sunyer, C. N. Boozer, R. W. Longman, “Assessment of Human
Locomotion by using an Insole Measurement System and Artificial Neural
Networks,” Journal of Biomechanics,
Vol. 38, 2005, pp. 2276-2287.
H. Elci, R. W. Longman, and
M. Shoham, “Planar Three-Finger Manipulation of Objects with a Dextrous Robot
Hand,” AIAA Guidance, Navigation and
Control Conference, A Collection of Technical Papers, Part 2, Portland,
Oregon, August 1990, pp. 1061-1071.
F. Jen, M. Shoham, and R. W.
Longman, “Liapunov Stability of Force-Controlled Grasps with a Multi-Fingered
Hand,” The International Journal of
Robotics Research, Vol. 15, No. 2, April 1996, pp. 137-154.
Satellite Attitude Dynamics and Control (back to top)
Commissioned Survey (AIAA)
Paper on Modeling, Dynamics and Optimization of Large Flexible Spacecraft
D. Hyland, J. L. Junkins,
and R. W. Longman, “Active Control Technology for Large Space Structures,” Journal of Guidance, Control and Dynamics,
Vol. 16, No. 5, September-October, 1993, pp. 801-821.
(Commissioned survey paper
on modeling, identification, and control of large space structures.)
Gyrostat or Dual Spin
Spacecraft
R. W. Longman, A Generalized Approach to Gravity-Gradient
Stabilization of Gyrostat Satellites, Doctoral Dissertation, The RAND Corporation,
RM-5921-PR, November 1969.
R. W. Longman and R. E.
Roberson, “General Solution for the Equilibria of Orbiting Gyrostats Subject to
Gravitational Torques,” The Journal of the Astronautical Sciences, Vol. 16,
No.2, March-April, 1969, pp.49-58. Also available as The RAND Corporation,
P-3915, August 1968.
R. W. Longman, “The
Equilibria of Orbiting Gyrostats with Internal Angular Momenta along Principal
Axes,” Proceedings of the Symposium on
Gravity Gradient Attitude Stabilization, December 1968, Aerospace
Corporation, El Segundo, California, published as Air Force SAMSO-TR-69-307
(Aerospace Corporation Report No. TR-0066(5143)-1), pp. 3-53,3-65, 1969. Also
available as The RAND Corporation, P-3916, August 1968.
R. W. Longman,
“Gravity-Gradient Stabilization of Gyrostat Satellites with Rotor Axes in
Principal Planes,” Celestial Mechanics,
Vol. 3, No. 2, March 1971, pp. 169-188.
R. W. Longman, “Stability
Analysis of All Possible Equilibria for Gyrostat Satellites under Gravitational
Torques,” AIAA Journal, Vol. 10, No.
6, June 1972, pp. 800-806.
R. W. Longman, “Stable
Tumbling Motions of a Dual-Spin Satellite Subject to Gravitational Torques,” AIAA Journal, Vol. 11, No. 7, July 1973,
pp. 916-921.
R. W. Longman, “Attitude
Equilibria and Stability of Arbitrary Gyrostat Satellites under Gravitational
Torques,” Journal of the British
Interplanetary Society, Vol. 28, No. 1, January 1975, pp. 38-46.
T. Li and R. W. Longman,
“Stability Relationships Between Gyrostats with Free, Constant-Speed, and
Speed-Controlled Rotors,” Journal of
Guidance, Control, and Dynamics, AIAA, Vol. 5, No. 6, November-December
1982, pp. 545-552.
R. Longman, P. Hagedorn and
A. Beck, “Stabilization due to Gyroscopic Coupling in Dual-Spin Satellites
Subject to Gravitational Torques,” Celestial
Mechanics, Vol. 25, No. 4, December 1981, pp. 353-373. (An earlier version
was presented at the AIAA/AAS Astrodynamics Conference, Palo Alto, California,
1978.)
T. Li and R. W. Longman,
“Optimal Configurations for Dual-Spin Satellites Subject to Gravitational
Torques,” Celestial Mechanics, Vol.
33, 1984, pp. 319-336.
Other Satellites
R. W. Longman and J. V.
Fedor, “Dynamics of Flexible Spinning Satellites with Radial Wire Antennas,” Acta Astronautica, Pergamon Press, Vol.
3, 1976, pp. 17-37. (Presented at the 25th Congress of the International
Astronautical Federation, Amsterdam, September 1974. An earlier version is available as NASA
Goddard Space Flight Center X-732-73-233, September 1973.)
R. W. Longman and J. V.
Fedor, “Dynamics During Thrust Maneuvers of Flexible Spinning Satellites with
Axial and Radial Booms,” Proceedings of
the 2nd International Symposium on Spacecraft Flight Dynamics, Darmstadt,
Germany, 20-23 October 1986, European Space Agency SP-255, Dec. 1986, pp. 13-18.
R. W. Longman and J. A. Massart, “An Investigation
of the Anomalous Attitude Motion of the ISEE-B Spacecraft,” Spacecraft Flight Dynamics, Proceedings of an International Conference,
Darmstadt, West Germany, May 18-22, 1981, European Space Agency, ESA SP-160,
1981, pp. 211-224.
R. W. Longman and K. T.
Alfriend, “Optimal Control of Large Angle Attitude Maneuvers for Flexible
Spacecraft,” Automatic Control in Space,
Proceedings of the 8th International Conference, International Federation of
Automatic Control, Oxford, England, July 1979, Pergamon Press, Oxford, 1979,
pp. 57-62.
R. W. Longman, “Annihilation
or Suppression of Control and Observation Spillover in the Optimal Shape
Control of Flexible Spacecraft,” The
Journal of the Astronautical Sciences, Vol. 27, No. 4, October-December
1979, pp. 381-399.
K. T. Alfriend and R. W.
Longman, “Rotational Maneuvers of Large Flexible Spacecraft,” Advances in the Astronautical Sciences,
Vol. 42, 1980, pp. 453-475.
R. W. Longman and K. T.
Alfriend, “Improved Spillover Suppression Criteria in the Optimal Control of
Large Flexible Spacecraft,” Methods in
Operations Research, Proceedings of the 5th Symposium on Operations
Research, University of Cologne, West Germany, August 1980.
G. Sevaston and R. W.
Longman, “Optimal Positive Real Controllers for Large Space Structures,” Dynamics and Control of Large Flexible
Spacecraft, Proceedings of the Third VPI&SU/AIAA Symposium, June 1981,
L. Meirovitch, Editor, pp. 285-300.
R. A. Laskin, P. W. Likins
and R. W. Longman, “Dynamical Equations of a Free-Free Beam Subject to Large
Overall Motions,” The Journal of the
Astronautical Sciences, 1983.
R. E. Lindberg Jr. and R. W.
Longman, “On the Dynamic Behavior of the Wobblestone,” Acta Mechanica, Vol. 49, 1983, pp. 81-94.
Concepts of Degree of Controllability and Degree of
Observability, Criteria for Sensor and Actuator Placement (back to top)
C. N. Viswanathan, R. W.
Longman and P. W. Likins, “A Definition of the Degree of Controllability - A
Criterion for Actuator Placement,” Dynamics
and Control of Large Flexible Spacecraft, Proceedings of the Second
VPI&SU/AIAA Symposium, June 1979, L. Meirovitch, Editor, pp. 369-381.
R. A. Laskin, R. W. Longman
and P. W. Likins, “A Definition of the Degree of Controllability for
Fuel-Optimal Systems,” Dynamics and
Control of Large Flexible Spacecraft, Proceedings of the Third
VPI&SU/AIAA Symposium, June 1981, L. Meirovitch, Editor, pp. 1-14.
R. W. Longman and K. T.
Alfriend, “Actuator Placement from Degree of Controllability Criteria for
Regular Slewing of Flexible Spacecraft,” Acta
Astronautica, Vol. 8, No. 7, pp. 703-718. (Also presented at the XXXth
Congress of the International Astronautical Federation, Munich, Germany,
September 1979.)
R. E. Lindberg and R. W.
Longman, “Aspects of the Degree of Controllability - Applications to Simple
Systems,” Advances in the Astronautical
Sciences, Vol. 46, Part II, pp. 871-891.
R. E. Lindberg Jr. and R. W.
Longman, “Optimization of Actuator Placement via Degree of Controllability
Criteria Including Spillover Considerations,” AIAA/AAS Astrodynamics
Conference, San Diego, California, Paper No. AIAA-82-1435, August, 1982.
R. W. Longman, S. W. Sirlin,
T. Li and G. Sevaston, “The Fundamental Structure of Degree of Controllability
and Degree of Observability,” AIAA/AAS Astrodynamics Conference, San Diego,
California, Paper No. AIAA-82-1434, August 1982.
R. A. Laskin, R. W. Longman
and P. W. Likins, “A Definition of the Degree of Disturbance Rejection,”
AIAA/AAS Astrodynamics Conference, San Diego, California, Paper No.
AIAA-82-1466, August 1982.
R. A. Laskin, R. W. Longman
and P. W. Likins, “Actuator Placement in Modal Systems Using Fuel Optimal
Degree of Controllability Concepts,” Proceedings
of the 20th Annual Allerton Conference on Communication, Control, and Computing,
The University of Illinois, Allerton House, Monticello, Illinois, October 1982,
pp. 813-822.
G. Klein, R. E. Lindberg Jr.
and R. W. Longman, “Computation of a Degree of Controllability via System
Discretization,” Journal of Guidance,
Control, and Dynamics, AIAA, Vol. 5, No. 6, November-December 1982, pp.
583-588. (A slightly different form appears in Dynamics and Control of Large Flexible Spacecraft, Proceedings of
the Third VPI&SU/AIAA Symposium, June 1981, L. Meirovitch, Editor, pp.
49-64.)
C. N. Viswanathan, R. W.
Longman and P. W. Likins, “A Degree of Controllability Definition: Fundamental
Concepts and Application to Modal Systems,” Journal
of Guidance, Control and Dynamics, AIAA, Vol. 7, No. 2, March-April 1984,
pp. 222-230.
C. N. Viswanathan, and R. W.
Longman, “The Determination of the Degree of Controllability for Dynamic
Systems with Repeated Eigenvalues,” Advances
in the Astronautical Sciences, Vol. 50, 1985, pp.1091-1111.
R. E. Lindberg Jr. and R. W.
Longman, “The Influence of Time and Normalization on Actuator Placement by
Degree of Controllability,” Advances in
the Astronautical Sciences, Vol. 54, 1984, pp. 371-382.
S. W. Sirlin and R. W.
Longman, “Fuzzy Concepts of the Degree of Controllability and Degree of
Observability,” Advances in the
Astronautical Sciences, Vol. 54, 1984, pp. 777-795.
R. E. Lindberg Jr. and R. W.
Longman, “On the Number and Placement of Actuators for Independent Modal Space
Control,” Journal of Guidance, Control,
and Dynamics, AIAA, Vol. 7, No. 2, March-April 1984, pp. 215-221.
G. E. Sevaston, and R. W.
Longman, “Gain Measures of Controllability and Observability,” International Journal of Control, Vol.
41, No. 4, 1985, pp. 865-893.
R. W. Longman and R. E. Lindberg, “The Search for
Appropriate Actuator Distribution Criteria in Large Space Structures Control,” Adaptive and Learning Systems: Theory and
Applications, K. S. Narendra, Editor, Plenum Publishing Company, 1986.
X. Chen, R. W. Longman, and G. Klein, “An Algorithm for the
Computation of the Time Optimal Degree of Controllability;” Proceedings of the AIAA/AAS Astrodynamics
Conference, Minneapolis, Minnesota, August 1988.
R. W. Longman and L. G.
Horta, “Actuator Placement by Degree of Controllability Including the Effect of
Actuator Mass,” Dynamics and Control of
Large Structures, Proceedings of the Seventh VPI&SU Symposium, L.
Meirovitch, Editor, May 1989, pp. 245-260.
R. W. Longman and K. T.
Alfriend, “Energy Optimal Degree of Controllability and Observability for
Regulator and Maneuver Problems,” The
Journal of the Astronautical Sciences, Vol. 37, No. 4, October-December
1989. (Shorter version appears in the Proceedings
of the 1982 Conference on Information Sciences and Systems, Princeton
University, Princeton, NJ, March 1982, pp. 633-638.)
M. Bergmann, R. W. Longman,
and J.-N. Juang, “Optimization of Actuator and Sensor Placement for On-Orbit
Identification in Large Flexible Spacecraft,” AIAA Guidance, Navigation and Control Conference, A Collection of
Technical Papers, Part 2, Portland, Oregon, August 1990, pp. 1785-1793.
X. Chen and R. W. Longman,
“Computation of the Fuel Optimal Degree of Controllability,” Advances in the Astronautical Sciences,
Vol. 71, 1990, pp. 951-968.
Energy Optimal Control of Subways (back to top)
C. N. Viswanathan, R. W.
Longman and G. A. Domoto, “Energy Conservation in Subway Systems by
Controlled Acceleration and
Deceleration,” International Journal of
Energy Research, Vol. 2, No. 2, April-June 1978, pp. 133-151.
H. G. Bock and R. W.
Longman, “Optimal Control of Velocity Profiles for Minimization of Energy
Consumption in the New York Subway System,” Proceedings
of the Second IFAC Workshop on Control Applications of Nonlinear Programming
and Optimization, Oberpfaffenhofen, West Germany, September 15-17,
International Federation of Automatic Control, 1980, pp. 34-43.
H. G. Bock and R. W.
Longman, “Computation of Optimal Controls on Disjoint Control Sets for Minimum
Energy Subway Operation,” Advances in the
Astronautical Sciences, Vol. 50, 1985, pp. 949-972.
P. M. Krämer-Eis, H. G.
Bock, R. W. Longman, and J. P. Schlöder, “Numerical Determination of Optimal
Feedback Control in Nonlinear Problems with State/Control Constraints,” Advances in the Astronautical Sciences,
Vol. 105, 2000, pp. 53-71.
Feedback Control of Plasma Physics Tokomaks (back to top)
A. K. Sen, M. Nagashima, and
R. W. Longman, “Optimal Control of Tokamak Resistive Wall Modes in the Presence
of Noise,” Physics of Plasmas, Vol.
10, No. 11, November 2003, pp. 4350-4357.
Z. Sun, A. K. Sen, and R. W.
Longman, “Adaptive Optimal Stochastic State Feedback Control of Resistive Wall
Modes in Tokamaks,” Physics of Plasmas,
Vol. 13, 012512, 2006, 9 pages.
Z. Sun, A. K. Sen, and R. W.
Longman, “Adaptive Stochastic Output Feedback Control of Resistive Wall Modes
in Tokamaks,” Physics of Plasmas,
Vol. 13, 092508, 2006.