Control | MAAL

Sensorless contact forces estimation for robotic manipulators using dual-stage temporal-residual neural network compensation

Thu, 31 Dec 2026 00:00:00 +0000

Zhou, Y., Cheung, Y.H., Liu, S., Law, F.C., Shi, Y., Han, L., Duan, M.*, 2026, “Sensorless contact forces estimation for robotic manipulators using dual-stage temporal-residual neural network compensation,” Control Engineering Practice, 176, 107140.

Computation-Efficient Path Planning Using Evolving Artificial Repulsive Force over Expanding Obstacles for Robotic Manipulator

Wed, 30 Dec 2026 00:00:00 +0000

Zhou, Y., Huang, B., Cheung, Y.H., Ye, P., Duan, M.*, 2026, “Computation-Efficient Path Planning Using Evolving Artificial Repulsive Force over Expanding Obstacles for Robotic Manipulator,” ISA Transactions.

Gaussian-process-based sensor placement and uncertainty quantification for dynamic response reconstruction in flexible aeroelastic structures

Tue, 29 Dec 2026 00:00:00 +0000

Dong, B., Mei, Y., Lu, X., Zhou, Y., Zhang, S., Wang, W., Duan, M.*, 2026, “Gaussian-process-based sensor placement and uncertainty quantification for dynamic response reconstruction in flexible aeroelastic structures,” Mechanical Systems and Signal Processing, 257, 114426.

Property-controllable process planning for multi-axis hybrid manufacturing of complex metal parts

Sun, 27 Dec 2026 00:00:00 +0000

He, D., Hao, J., Lau, T.Y., Huang, L., Chen, Y., Hu, P., Xie, J., Duan, M., Liu, X., Tang, K.*, 2026, “Property-controllable process planning for multi-axis hybrid manufacturing of complex metal parts,” Computers in Industry, 179.

Shortened current injection for sensorless switched reluctance motor drives based on high-sensitivity-region-optimized position observer

Sat, 26 Dec 2026 00:00:00 +0000

Chen, Z., Lin, X., Luo, D., Duan, M., Cai, S., Xiao, D.*, 2026, “Shortened current injection for sensorless switched reluctance motor drives based on high-sensitivity-region-optimized position observer,” IEEE Transactions on Transportation Electrification, 11454632.

DS-LABRNav: Land-air bimodal robot navigation with traversable obstacles based on vision-language model

Fri, 25 Dec 2026 00:00:00 +0000

Li, Y., Yu, W., Duan, M., Zhang, B., Liu, Z., Li, Q.*, 2026, “DS-LABRNav: Land-air bimodal robot navigation with traversable obstacles based on vision-language model,” IEEE Robotics and Automation Letters, 11(7), 8471-8478.

Dynamic mode decomposition-based modeling and toolpath optimization of a robotic single point incremental forming process

Thu, 24 Dec 2026 00:00:00 +0000

Asghar, A., He, S., Hu, P., Duan, M.*, 2026, “Dynamic mode decomposition-based modeling and toolpath optimization of a robotic single point incremental forming process,” Journal of Manufacturing Processes, 167, pp. 507-531.

Toward a High-Throughput Automated Materials Experimentation Platform: Hybrid-Automata-Inspired Modeling and Equipment Configuration Optimization

Mon, 21 Dec 2026 00:00:00 +0000

Ma, G., Cui, H., Yip, C. Y., Zhang, W., Duan, M., Yang, J., 2026, “Toward a High-Throughput Automated Materials Experimentation Platform: Hybrid-Automata-Inspired Modeling and Equipment Configuration Optimization,” IEEE Transactions on Automation Science and Engineering, 23, 11609-11620.

Flexible industrial robot dynamics and control

Tue, 06 Jan 2026 00:00:00 +0000

Industrial robots change stiffness and vibration behavior with their position and posture. This project establishes dynamic models that capture both joint and link flexibility without making the model too costly to use in control.

Approach

Represent geometrically nonlinear links with strain-based beam elements and modal coordinates.
Identify configuration-dependent vibration from experimental data.
Generate nonlinear filtered B-spline trajectories that suppress motion-induced vibration.
Validate compensation strategies on industrial robotic platforms.

Why it matters

More accurate dynamic models allow robots to move faster while maintaining precision. The same methods support robotic machining, additive manufacturing, and large-reach manipulation.

Additive manufacturing process monitoring and control

Mon, 05 Jan 2026 00:00:00 +0000

This project combines additive-manufacturing process models with the dynamics of the motion platform. Thermal cameras, nozzle cameras, accelerometers, and position sensors provide synchronized data for monitoring and compensation.

Research questions

How can process and machine dynamics be represented in one control-oriented model?
Which visual and thermal signals reveal defects early enough for correction?
How should local and cloud controllers share model-based and data-driven tasks?

Expected outcomes

The project develops in-situ monitoring, extrusion-trajectory compensation, and control strategies that improve dimensional accuracy and process stability.

Flexible aircraft reduced-order modeling and load alleviation

Sat, 03 Jan 2026 00:00:00 +0000

Flexible and very flexible aircraft improve structural weight and aerodynamic efficiency, but their flight dynamics are tightly coupled with structural deformation.

Approach

Construct reduced-order structural and aerodynamic models.
Preserve the aeroelastic behavior needed for control design.
Use the model to evaluate load, fuel efficiency, and flight trajectories.
Develop load-alleviation and flight-control algorithms.
Verify models and controllers through wind-tunnel experiments.

The project makes high-fidelity aeroelastic behavior accessible to analysis and real-time control.

A computation-efficient path planning method for robotic manipulators using evolving artificial repulsive force over expanding obstacles

Thu, 01 Jan 2026 00:00:00 +0000

Duan, M., Zhou, Y., and Cheung, Y.H., IP.PA.12873, “A computation-efficient path planning method for robotic manipulators using evolving artificial repulsive force over expanding obstacles,” US Provisional Application 64/041,762 (filed Apr 2026); CN Application (approved for filing).

Adaptive optimal control allocation of over-actuated VTOL UAVs for wind resilience and power efficiency

Thu, 01 Jan 2026 00:00:00 +0000

Duan, M., Mei, Y., Wang, H., Shan, X., Li, Y., and Dong, B., IP.PA.12865, “Adaptive optimal control allocation of over-actuated VTOL UAVs for wind resilience and power efficiency,” CN Application (approved for filing). Assignees: HKUST and SUSTech.

Boom-lift-mounted robotic systems

Thu, 01 Jan 2026 00:00:00 +0000

Mounting a robotic manipulator on a boom lift extends its workspace, but the flexible, extendable support introduces configuration-dependent vibration and positioning error.

This project models the coupled boom-and-robot system, identifies changing structural dynamics, and develops trajectory and active-compensation methods for accurate long-reach operations.

Applications include inspection, maintenance, construction, and manufacturing tasks where conventional fixed-base robots cannot reach.

Sensorless contact forces estimation method for robotic manipulators using dual-stage temporal-residual neural network compensation

Thu, 01 Jan 2026 00:00:00 +0000

Duan, M., Zhou, Y., and Cheung, Y.H., IP.PA.12872, “Sensorless contact forces estimation method for robotic manipulators using dual-stage temporal-residual neural network compensation,” US Provisional Application 64/041,767 (filed Apr 2026); CN Application 202611125274.2 (filed Jul 2026).

Contact-force-based closed-loop control of multi-axis additive manufacturing With continuous-fiber-reinforced polymer

Wed, 31 Dec 2025 00:00:00 +0000

Yang, Y., Zhou, Y., Duan, M.*, 2025, “Contact-force-based closed-loop control of multi-axis additive manufacturing With continuous-fiber-reinforced polymer,” ASME International Manufacturing Science and Engineering Conference, Greenville.

Evolving stress-guided continuous fiber path optimization for multi-axis additive manufacturing of composite shells

Tue, 30 Dec 2025 00:00:00 +0000

Yang, Y., Xu, Z., Duan, M.*, 2025, “Evolving stress-guided continuous fiber path optimization for multi-axis additive manufacturing of composite shells,” Additive Manufacturing, 113, pp. 105012.

Optimal Trajectory Generation and Feedback Tension Control of a Robotic Space Tether Launching System

Mon, 29 Dec 2025 00:00:00 +0000

Liu, S., Wang, S., Duan, M.*, 2025, “Optimal Trajectory Generation and Feedback Tension Control of a Robotic Space Tether Launching System,” International Conference on Control Science and Systems Engineering (ICCSSE), Beijing.

Dynamic load alleviation of input-redundant flexible aircraft via nonlinear control allocation over invariant manifold

Sat, 27 Dec 2025 00:00:00 +0000

Dong, B., Zhou, Y., Duan, M.*, 2025, “Dynamic load alleviation of input-redundant flexible aircraft via nonlinear control allocation over invariant manifold,” Aerospace Science and Technology, 162, pp. 110119.

Cable-driven parallel robot trajectory generation with optimized orientation considering disturbance rejection

Fri, 26 Dec 2025 00:00:00 +0000

Liu, S., Duan, M.*, 2025, “Cable-driven parallel robot trajectory generation with optimized orientation considering disturbance rejection,” Mechanism and Machine Theory, 210, pp. 106016.

Dynamic robotic bricklaying force-position control considering mortar dynamics for enhanced consistency

Thu, 25 Dec 2025 00:00:00 +0000

Zhou, Y., Huang, B., Dong, B., Wen, Y., Duan, M.*, 2025, “Dynamic robotic bricklaying force-position control considering mortar dynamics for enhanced consistency,” Automation in Construction, 174, pp. 106090.

An analytical approach for dealing with explicit physical constraints in excitation optimization problems of dynamic identification

Wed, 24 Dec 2025 00:00:00 +0000

Huang, S., Li, F., Zhou, X., Duan, M.*, 2025, “An analytical approach for dealing with explicit physical constraints in excitation optimization problems of dynamic identification,” IEEE Transactions on Robotics, pp. 1 - 20.

Freeform trajectory generation for fiber reinforced polymer composites additive manufacturing with variable-deposition-width

Tue, 23 Dec 2025 00:00:00 +0000

Bi, D., Hu, P., Li, Z., Hao, J., Tang, K., Duan, M.*, 2024, “Freeform trajectory generation for fiber reinforced polymer composites additive manufacturing with variable-deposition-width,” Composites Part A: Applied Science and Manufacturing, 188, pp. 108516.

A force-position control system for robot bricklaying considering mortar dynamics

Wed, 01 Jan 2025 00:00:00 +0000

Duan, M., and Zhou, Y., IP.PA.12763, “A force-position control system for robot bricklaying considering mortar dynamics,” US Provisional Application 63/915,650 (filed Nov 2025); CN Application (approved for filing).

Optimal trajectory generation and feedback tension control of a robotic space tether launching system

Wed, 01 Jan 2025 00:00:00 +0000

Duan, M., Liu, S., and Wang, S., IP.PA.12761, “Optimal trajectory generation and feedback tension control of a robotic space tether launching system,” US Provisional Application 63/911,507 (filed Nov 2025); US Application (approved for filing); CN Application (approved for filing).

Continuous fiber path optimization in additive manufacturing: A gradient-based B-spline finite element approach

Tue, 31 Dec 2024 00:00:00 +0000

He, S., Ma, P., Duan, M.*, 2024, “Continuous fiber path optimization in additive manufacturing: A gradient-based B-spline finite element approach,” Additive Manufacturing, 86, pp. 104155.

Design, Manufacturing, and Control of a Cable-Driven Bionic Robotic Hand

Tue, 31 Dec 2024 00:00:00 +0000

Lai, C., Liu, S., Duan, M.*, 2024, “Design, Manufacturing, and Control of a Cable-Driven Bionic Robotic Hand,” IEEE International Conference on Robotics and Biomimetics (ROBIO), Bangkok.

Vibration compensation of an Extendable Variable-Stiffness Boom-Lift-Mounted Robot

Mon, 30 Dec 2024 00:00:00 +0000

Zhou, Y., Duan, M.*, 2024, “Vibration compensation of an Extendable Variable-Stiffness Boom-Lift-Mounted Robot,” IEEE/ASME Transactions on Mechatronics, 29, 4, pp. 2812-2820.

Wind resistant transition trajectory generation of VTOL aircraft under control allocation framework

Mon, 30 Dec 2024 00:00:00 +0000

Lou, G., Duan, M.*, Liang, Y., Shan, X., 2024, “Wind resistant transition trajectory generation of VTOL aircraft under control allocation framework,” AIAA Scitech Forum, Orlando.

Contact-force-based closed-loop control of shell structure additive manufacturing with continuous-fiber-reinforced polymer composites

Sun, 29 Dec 2024 00:00:00 +0000

Yang, Y., Zhou, Y., Duan, M.*, 2024, “Contact-force-based closed-loop control of shell structure additive manufacturing with continuous-fiber-reinforced polymer composites,” Journal of Materials Processing Technology, 331, pp. 118501.

Control-oriented modeling for flexible aircraft

Fri, 27 Dec 2024 00:00:00 +0000

Duan, M., Cesnik, C.E.S.*, Kolmanovsky, I. V., Vetrano, F., 2024, “Control-oriented modeling for flexible aircraft,” Journal of Aircraft, 61(1), pp. 183-195.

Continuous fiber path optimization approach in additive manufacturing

Mon, 01 Jan 2024 00:00:00 +0000

Duan, M., and He, S., IP.PA.02094, “Continuous fiber path optimization approach in additive manufacturing,” US Provisional Application 63/635,609 (filed Apr 2024); CN Application 202510097967.4 (filed Jan 2025, published).

In-situ additive manufacturing deposition trajectory monitoring and compensation with thermal camera

Sun, 31 Dec 2023 00:00:00 +0000

Chen, S., Yang, Y., Liu, S., Duan, M.*, 2023, “In-situ additive manufacturing deposition trajectory monitoring and compensation with thermal camera,” Additive Manufacturing, 78, pp. 103820.

Design, manufacturing, modelling, and control of a cable-driven parallel robot for additive manufacturing

Sat, 30 Dec 2023 00:00:00 +0000

Duan, M.*, Feng, J., Liu, S., 2023, “Design, manufacturing, modelling, and control of a cable-driven parallel robot for additive manufacturing,” IEEE International Conference on Automation Science and Engineering (CASE), Auckland.

A physics-guided data-driven feedforward tracking controller for systems with unmodeled dynamics—applied to 3D printing

Fri, 29 Dec 2023 00:00:00 +0000

Chou, C., Duan, M., Okwudire, C.*, 2023, “A physics-guided data-driven feedforward tracking controller for systems with unmodeled dynamics—applied to 3D printing,” IEEE Access, 11, pp. 14563-14574.

Thermal-image-enabled additive manufacturing process monitoring and extrusion trajectory compensation

Fri, 29 Dec 2023 00:00:00 +0000

Duan, M.*, Chen, S., Yang, Y., 2023, “Thermal-image-enabled additive manufacturing process monitoring and extrusion trajectory compensation,” ASME International Manufacturing Science and Engineering Conference, New Brunswick.

Continuous fiber path optimization in composite additive manufacturing

Thu, 28 Dec 2023 00:00:00 +0000

Duan, M.*, He, S., 2023, “Continuous fiber path optimization in composite additive manufacturing,” ASME International Manufacturing Science and Engineering Conference, New Brunswick.

Extendable variable-stiffness boom-lift-mounted robot with vibration compensation

Sun, 01 Jan 2023 00:00:00 +0000

Duan, M., and Zhou, Y., IP.PA.02024, “Extendable variable-stiffness boom-lift-mounted robot with vibration compensation,” US Provisional Application 63/615,786 (filed Dec 2023); US Patent 12,654,313 (issued Jun 2026); CN Application 202411946171.3 (filed Dec 2024, published); HK Application 42025111199.3 (filed Aug 2025, published).

In-situ additive manufacturing deposition trajectory monitoring and compensation system with thermal camera

Sun, 01 Jan 2023 00:00:00 +0000

Duan, M., Chen, S., and Yang, Y., IP.PA.01890, “In-situ additive manufacturing deposition trajectory monitoring and compensation system with thermal camera,” US Provisional Application 63/505,696 (filed Jun 2023); CN Patent ZL202410710170.2 (issued Sep 2025).

Load alleviation of flexible aircraft by dynamic control allocation

Sat, 31 Dec 2022 00:00:00 +0000

Hansen, J.H., Duan, M., Kolmanovsky, I. V., Cesnik, C.E.S.*, 2022, “Load alleviation of flexible aircraft by dynamic control allocation,” Journal of Guidance, Control, and Dynamics, 45, 10, pp. 1890-1898.

Model predictive control for very flexible aircraft based on linear parameter varying reduced-order models

Sat, 31 Dec 2022 00:00:00 +0000

Pereira, M.F.V., Duan, M., Cesnik, C.E.S., Kolmanovsky, I. V., Vetrano, F.*, 2022, “Model predictive control for very flexible aircraft based on linear parameter varying reduced-order models,” International Forum on Aeroelasticity and Structural Dynamics, Madrid.

A hybrid filtered basis functions approach for tracking control of linear systems with unmodeled nonlinear dynamics

Fri, 31 Dec 2021 00:00:00 +0000

Chou, C., Duan, M., Okwudire, C.*, 2021, “A hybrid filtered basis functions approach for tracking control of linear systems with unmodeled nonlinear dynamics,” IEEE International Conference on Automation Science and Engineering (CASE), Lyon.

A linear hybrid model for enhanced servo error precompensation of feed drives with unmodeled nonlinear dynamics

Fri, 31 Dec 2021 00:00:00 +0000

Chou, C., Duan, M., Okwudire, C.*, 2021, “A linear hybrid model for enhanced servo error precompensation of feed drives with unmodeled nonlinear dynamics,” CIRP Annals - Manufacturing Technology, 70, pp. 301-304.

Nonlinear control-oriented modeling for very flexible aircraft

Wed, 29 Dec 2021 00:00:00 +0000

Duan, M., Cesnik, C.E.S., Kolmanovsky, I. V., Vetrano, F.*, 2021, “Nonlinear control-oriented modeling for very flexible aircraft,” AIAA Scitech Forum, Online.

Control Allocation for Maneuver and Gust Load Alleviation of Flexible Aircraft

Thu, 31 Dec 2020 00:00:00 +0000

Hansen, J.H., Duan, M., Kolmanovsky, I. V., Cesnik, C.E.S.*, 2020, “Control Allocation for Maneuver and Gust Load Alleviation of Flexible Aircraft,” AIAA Scitech Forum, Orlando.

Energy optimal control of an over-actuated hybrid feed drive under variable-frequency

Thu, 31 Dec 2020 00:00:00 +0000

Duan, M., Ramani, K. S., Okwudire, C.*, 2020, “Energy optimal control of an over-actuated hybrid feed drive under variable-frequency,” Control Engineering Practice, 100, pp. 104442.

Maneuver load alleviation of flexible aircraft through control allocation: a case study using X-HALE

Tue, 31 Dec 2019 00:00:00 +0000

Duan, M., Hansen, J.H., Kolmanovsky, I. V., Cesnik, C.E.S.*, 2019, “Maneuver load alleviation of flexible aircraft through control allocation: a case study using X-HALE,” International Forum on Aeroelasticity and Structural Dynamics, Savannah.

Optimal selection of basis functions for minimum-effort tracking control of nonminimum phase systems using filtered basis functions

Mon, 30 Dec 2019 00:00:00 +0000

Ramani, K. S., Duan, M., Okwudire, C., Ulsoy, A.G.*, 2019, “Optimal selection of basis functions for minimum-effort tracking control of nonminimum phase systems using filtered basis functions,” Journal of Dynamic System, Measurement and Control, 141, 11, pp. 111009.

Connections between control allocation and linear quadratic control for weakly redundant systems

Sun, 29 Dec 2019 00:00:00 +0000

Duan, M., Okwudire, C.*, 2019, “Connections between control allocation and linear quadratic control for weakly redundant systems,” Automatica, 101, pp. 96-102.

Proxy-based energy optimal dynamic control allocation for dual-input, single-output over-actuated systems

Mon, 31 Dec 2018 00:00:00 +0000

Duan, M., Okwudire, C.*, 2018, “Proxy-based energy optimal dynamic control allocation for dual-input, single-output over-actuated systems,” IEEE/ASME Transactions on Mechatronics, 23, 2, pp. 895 - 905.

A lifted domain-based metric for performance evaluation of LTI and LTV discrete-time tracking controllers

Sun, 30 Dec 2018 00:00:00 +0000

Ramani, K. S., Okwudire, C., Duan, M., Ulsoy, A.G.*, 2018, “A lifted domain-based metric for performance evaluation of LTI and LTV discrete-time tracking controllers,” International Symposium on Flexible Automation, Kanazawa.

A limited-preview filtered B-spline approach to tracking control – with application to vibration-induced error compensation of a 3D printer

Sun, 30 Dec 2018 00:00:00 +0000

Duan, M., Yoon, D., Okwudire, C.*, 2018, “A limited-preview filtered B-spline approach to tracking control – with application to vibration-induced error compensation of a 3D printer,” Mechatronics, 56, pp. 287-296.

Boosting Speed and Accuracy in Precision Motion Control

Mon, 01 Jan 2018 00:00:00 +0000

Ramani, K. S., Duan, M., Yoon, D., Okwudire, C. E., and Ulsoy, A. G., 2018, “Boosting Speed and Accuracy in Precision Motion Control,” Mechanical Engineering Magazine Select Articles, 140(09), pp. S17-S23.

Proxy-based optimal dynamic control allocation for multi-input, multi-output over-actuated systems

Sun, 31 Dec 2017 00:00:00 +0000

Duan, M., Okwudire, C.*, 2017, “Proxy-based optimal dynamic control allocation for multi-input, multi-output over-actuated systems,” ASME Dynamic Systems and Control Conference, Tysons.

Tracking control of linear time- invariant nonminimum phase systems using filtered basis functions

Sun, 31 Dec 2017 00:00:00 +0000

Ramani, K. S., Duan, M., Okwudire, C., Ulsoy, A.G.*, 2017, “Tracking control of linear time- invariant nonminimum phase systems using filtered basis functions,” Journal of Dynamic System, Measurement and Control, 139, 1, pp. 011001.

Software-based compensation of vibration-induced errors of a commercial desktop 3D printer

Sat, 30 Dec 2017 00:00:00 +0000

Yoon, D., Duan, M., Okwudire, C.*, 2017, “Software-based compensation of vibration-induced errors of a commercial desktop 3D printer,” International Conference on Virtual Machining Process Technology, Montréal.

Energy-efficient controller design for a redundantly actuated hybrid feed drive with application to machining

Sat, 31 Dec 2016 00:00:00 +0000

Duan, M., Okwudire, C.*, 2016, “Energy-efficient controller design for a redundantly actuated hybrid feed drive with application to machining,” IEEE/ASME Transactions on Mechatronics, 21, 4, pp. 1822-1834.

Modeling and observer-based compensation of slip in a friction drive for servo positioning

Sat, 31 Dec 2016 00:00:00 +0000

Duan, M., Okwudire, C.*, 2016, “Modeling and observer-based compensation of slip in a friction drive for servo positioning,” International Symposium on Flexible Automation, Cleveland.

A trajectory optimization method for improved tracking of motion commands using CNC machines that experience unwanted vibration

Fri, 30 Dec 2016 00:00:00 +0000

Okwudire, C., Ramani, K. S., Duan, M.*, 2016, “A trajectory optimization method for improved tracking of motion commands using CNC machines that experience unwanted vibration,” CIRP Annals - Manufacturing Technology, 65, 1, pp. 373-376.

Near energy optimal control allocation for dual-input over-actuated systems

Fri, 30 Dec 2016 00:00:00 +0000

Duan, M., Okwudire, C.*, 2016, “Near energy optimal control allocation for dual-input over-actuated systems,” ASME Dynamic Systems and Control Conference, Minneapolis.

Minimum-time cornering for CNC machines using an optimal control method with NURBS parameterization

Thu, 29 Dec 2016 00:00:00 +0000

Duan, M., Okwudire, C.*, 2016, “Minimum-time cornering for CNC machines using an optimal control method with NURBS parameterization,” International Journal of Advanced Manufacturing Technology, 85, pp. 1405-1418.

Tracking control of non-minimum phase systems using filtered basis functions: a NURBS-based approach

Thu, 31 Dec 2015 00:00:00 +0000

Duan, M., Ramani, K. S., Okwudire, C.*, 2015, “Tracking control of non-minimum phase systems using filtered basis functions: a NURBS-based approach,” ASME Dynamic Systems and Control Conference, Columbus.

Energy efficiency and performance optimized control of a hybrid feed drive

Wed, 30 Dec 2015 00:00:00 +0000

Duan, M., Okwudire, C.*, 2015, “Energy efficiency and performance optimized control of a hybrid feed drive,” ASME International Manufacturing Science and Engineering Conference, Charlotte.

Minimum-time cornering for manufacturing machines using optimal control

Wed, 31 Dec 2014 00:00:00 +0000

Duan, M., Okwudire, C.*, 2014, “Minimum-time cornering for manufacturing machines using optimal control,” ASME Dynamic Systems and Control Conference, San Antonio.