Dhruva Pingale was awarded a UROP award for Fall 2025 to study the design optimization of a cable-driven parallel robot for spacecraft motion simulation. Congrats Dhruva!

Michael States, Dhruva Pingale, Henry Mahnke, and Shaumik Kalwit participated in the Aerospace Engineering and Mechanics Summer Research Mentorship Program (SRMP) Poster Symposium. Congrats to Henry Mahnke for winning 2nd place and Michael States for winning 3rd place in the poster competition!

Prof. Caverly was interviewed by the Sahan Journal for an article on the impact of federal grant cuts at the University of Minnesota.

Logan Anderson has two papers accepted to the 2025 AIAA SciTech Forum on the design and evaluation of robust active flutter suppression control laws.

Ping-Yen Shen, Soojeong Lee, and Keegan Bunker presented papers at the 7th International Symposium on Space Sailing in Delft, Netherlands. Logan Anderson presented a poster at the conference.

Prof. Caverly presented a paper co-authored with Henry Mahnke at the Seventh International Conference on Cable-Driven Parallel Robots (CableCon) in Hong Kong titled "Fast and Reliable Iterative Cable-Driven Parallel Robot Forward Kinematics: A Quadratic Approximation Approach."

Minsen Yuan presented a paper at the 2025 American Control Conference in Denver, CO, co-authored with Prof. Caverly and Prof. Yu titled "Filtering Linearization: A First-Order Method for Nonconvex Trajectory Optimization with Filter-Based Warm-Starting."

Alex Hayes' paper titled "Atmospheric Density-Compensating Model Predictive Control for Targeted Reentry of Drag-Modulated Spacecraft" is accepted for publication in the Journal of Guidance, Control, and Dynamics!

Vinh Nguyen successfully defended his Ph.D. dissertation!  Congrats Vinh!

Prof. Caverly has been promoted to the rank of Associate Professor with tenure effective Fall 2025!

Prof. Caverly presented a paper authored with Vinh Nguyen titled "Kalman-Filter-Based Pose Estimation of Cable-Driven Parallel Robots Using Cable-Length Measurements with Colored Noise" at the 2025 IEEE International Conference on Robotics and Automation in Atlanta, GA.

Nathan Gall presented his paper titled "Predictive Station Keeping of Areostationary Satellites Using Natural Motion Trajectories" at the 2025 AIAA Region V Student Conference in Minneapolis, MN and was awarded 2nd place in the Undergraduate category. Congrats Nathan!

Prof. Caverly gave the keynote talk at the 2025 AIAA Region V Student Conference in Minneapolis, MN titled "Solar Sailing: Harnessing the Sun for Propulsion."

Ryan Levendusky attended the 40th Space Symposium in Colorado Springs, CO to present our SPACESiM project as a member of the New York Consortium for Space Technology (NYCST).

Soojeong Lee passed her doctoral preliminary oral exam. Congrats Soojeong!

Prof. Caverly is awarded the George Taylor W. Taylor Career Development Award for "exceptional contributions to teaching by a candidate for tenure."

Undergraduate students Leo Ruhland, Varsha Balaji, Vivek Suthram, Annu Malarvannan, Aiden White, and Aaron Lam join the ARDC Lab. Welcome all!

Logan Anderson and Ping-Yen Shen passed their doctoral preliminary oral exams. Congrats Logan and Ping-Yen!

Henry Mahnke has a paper accepted to the Seventh International Conference on Cable-Driven Parallel Robots (CableCon) in Hong Kong titled "Fast and Reliable Iterative Cable-Driven Parallel Robot Forward Kinematics: A Quadratic Approximation Approach."

Undergraduate students Chelsea Ofori, Kale Brattin, and Kentin LeBeau join the ARDC Lab. Welcome all!

Nathan Gall has a paper accepted to the 2025 AIAA Region V Student Conference in Minneapolis, MN titled "Predictive Station Keeping of Areostationary Satellites Using Natural Motion Trajectories."

Ping-Yen Shen, Soojeong Lee, and Keegan Bunker have papers accepted to the 7th International Symposium on Space Sailing in Delft, Netherlands, while Logan Anderson has a poster accepted to the conference.

Undergraduate students Brenen Olson, Ahmed Raqib, Keegan Heyl, and Daniel Dimitrov join the ARDC Lab. Welcome all!

Prof. Caverly presented a paper titled "Design, Estimation, and Control of a Cable-Driven Solar Sail Boom Testbed Prototype" at the AIAA SciTech Forum in Orlando, FL that was co-authored with Austin Bodin, Michael States, Soojeong Lee, and Nathan Raab.

Minsen Yuan has a paper accepted to the 2025 American Control Conference in Denver, CO, co-authored with Prof. Caverly and Prof. Yu titled "Filtering Linearization: A First-Order Method for Nonconvex Trajectory Optimization with Filter-Based Warm-Starting."

Vinh Nguyen has a paper accepted to the 2025 International Conference on Robotics and Automation in Atlanta, GA titled "Kalman-Filter-Based Pose Estimation of Cable-Driven Parallel Robots Using Cable-Length Measurements with Colored Noise."

Robert Halverson's paper co-authored with Dr. Avishai Weiss, Gabriel Lundin, and Prof. Caverly titled "Autonomous Station Keeping of Satellites in Areostationary Mars Orbit: A Predictive Control Approach" is accepted for publication in Acta Astronautica!

Undergraduate student Michael Zewdie joins the ARDC Lab. Welcome Michael!

Erik Lehner gave a presentation titled "Multi-Objective Servo Control Design for Dual- and Triple-Stage Hard Disk Drives" at the 40th Annual Research Review for the Center for Micromagnetics and Information Technologies (MINT).

Undergraduate students Caden Pankratz and Angad Singh join the ARDC Lab to work on the CABLESSail and SPACESiM projects, respectively. Welcome Caden and Angad!

Ethan Logeman joins the ARDC Lab as an honors thesis student to develop a computationally-efficient forward kinematics algorithm for cable-driven parallel robots with cable sag. Welcome Ethan!

Jason Cheah's paper co-authored with Dr. Diganta Bhattacharjee, Prof. Hemati, and Prof. Caverly titled "Control Synthesis for a Hypersonic Vehicle Flight Testing with Input-Output-Sampled Nonlinearities" is accepted for publication in the Journal of Guidance, Control, and Dynamics!

Erik Lehner presented in his paper titled "A Comparison of Multi-Objective Optimal Control Methodologies for Dual-Stage Hard Disk Drives," co-authored with Bin Huang and Raye Sosseh, at the Modeling, Estimation and Control Conference in Chicago, IL.

Undergraduate student Samuel Seguin joins the ARDC Lab to work on the SPACESiM project. Welcome Samuel!

Jason Cheah successfully defended his Ph.D. dissertation!  Congrats Jason!

A number of undergraduate students join the ARDC Lab to work on the SPACESiM project, including Micah Anderson, Andrew Lomoro, Gavin Fuhr, Harrion Mantsch, Charles Rogan, Tyler Depies, Dhruva Pingale, Ziggy Kearns, Tatum Bennet Etzell, and Shaumik Kalwit. Welcome everyone!

Nathan Gall presented a paper at the AAS Astrodynamics Specialist Conference in Broomfield, CO, co-authored with Robert Halverson, titled "Station Keeping of Areostationary Mars Orbit Satellites Using Linear Time-Varying Model Predictive Control."

Nathan Gall receives a UROP award for Fall 2024 to analyze the propagation of uncertainty within a linear model predictive control framework.  Congrats Nathan!

Austin Bodin, Michael State, Soojeong Lee, and Nathan Raab co-authored a paper that is accepted to the 2025 SciTech Forum in Orlando, FL. The paper is titled "Design, Estimation, and Control o a Cable-Driven Solar Sail Boom Testbed Prototype."

Logan Anderson and Prof. Caverly presented papers at the 2024 American Control Conference in Toronto, ON, Canada titled "Statistical Bounds on Identified QSR Dissipative Properties from Input-Output Data" and "State Feedback Synthesis for Robust Performance with Probabilistic Uncertainty."

Erik Lehner has a paper accepted to the Modeling, Estimation and Control Conference in Chicago, IL, co-authored with Seagate collaborators Bin Huang and Raye Sosseh, titled "A Comparison of Multi-Objective Optimal Control Methodologies for Dual-Stage Hard Disk Drives."

The ARDC Lab is selected by the New York Consortium on Space Technology Innovation & Development (NYCST) to build a large-scale 6 degree-of-freedom cable-drive spacecraft motion simulator.

The ARDC Lab's solar sail research was featured in the Minnesota Robotics Institute's newsletter.

Austin Bodin and Ethan Kolby successfully complete their honors thesis projects!  Congrats Austin and Ethan!

Prof. Caverly has a book chapter on "Satellite Control" accepted to Elsevier's Encyclopedia of Systems and Control Engineering, co-authored with Laurent Burlion (Rutgers University) and J.-M. Biannic (ONERA).

Nathan Gall has a paper accepted to the AAS Astrodynamics Specialist Conference in Broomfield, CO, co-authored with Robert Halverson, titled "Station Keeping of Areostationary Mars Orbit Satellites Using Linear Time-Varying Model Predictive Control."

Keegan Bunker passes his doctoral preliminary oral exam!  Congrats Keegan!

Ping-Yen passes his doctoral written preliminary exam!  Congrats Ping-Yen!

The ARDC Lab has a paper accepted to the ASME Journal of Mechanisms and Robotics titled "Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics."  This paper is the culmination of work performed by Jason Cheah, Keegan Bunker, Samir Patel, Niko Sexton, and Vinh Nguyen.

Robert Halverson passes his doctoral preliminary oral exam!  Congrats Robert!

Liam Elke, Robert Halverson, Soojeong Lee, and Prof. Caverly presented papers at the AAS Guidance, Navigation and Control Conference in Breckenridge, CO.

Prof. Caverly is selected as a recipient of the 2024-2026 McKnight Land-Grant Professorship!

Liam Elke, Jason Cheah, Robert Halverson, and Keegan Bunker presented papers at the 2024 AIAA SciTech Forum in Orlando, FL.

Prof. Caverly was recently featured on an episode of "Spaceflight Mechanics: The Cornell Space Technology Podcast" hosted by Mason Peck and Elaine Petro from Cornell University.  In the episdoe titled "The Wind from the Sun," Prof. Caverly describes the concept of using solar sails for propulsion in space and how his recent NASA-funded research on solar sail attitude control technology, known as CABLESSail, attempts to address the challenges of operating solar sails in space.

Jason Cheah presened an abstract at the Society of Experimental Mechanics International Model Analysis Conference (SEM IMAC) in Orlando, FL.

Logan Anderson and Prof. Caverly have papers accepted to the 2024 American Control Conference in Toronto, ON, Canada titled "Statistical Bounds on Identified QSR Dissipative Properties from Input-Output Data" and "State Feedback Synthesis for Robust Performance with Probabilistic Uncertainty."

Prof. Caverly gave an invited talk on the lab's cable-driven robotics research and CABLESSail at the Minnesota Robotics Institute Colloquium.

Soojeong Lee, Erik Lehner, and Jason Cheah presented posters at the Minnesota Robotics Institute Research Showcase.  Prof. Caverly also gave a pitch talk at the event overviewing the ARDC Lab's research projects.

Alex Hayes successfully defended his Ph.D. dissertation!  Congrats Alex!

Prof. Caverly gave an invited talk on the lab's hard disk drive research at the University of Minnesota's Electrical and Computer Engineering Magnetics Seminar.

Robert Halverson, Soojeong Lee, Ryleigh McGiveron, Liam Elke, James Johnson, and Will Roslansky have abstracts accepted to the AAS Guidance, Navigation and Control Conference in Breckenridge, CO.  Congrats to all!

Prof. Caverly gave an invited talk on the HyCUBE project at the Aerospace Control and Guidance Systems Committee (ACGSC) Meeting in Newport News, VA.

The ARDC Lab participated in the AEM Open House, giving undergraduate students the opportunity to learn about the research performed in our group and see live demonstrations of our robotic systems operating.

Prof. Caverly gave an invited talk on CABLESSail at Cornell University's Mechanical and Aerospace Engineering Colloquium.

Liam Elke successfully defended his Ph.D. dissertation!  Congrats Liam!

Jason Cheah has an abstract accepted to the Society of Experimental Mechanics International Model Analysis Conference (SEM IMAC) in Orlando, FL. Congrats Jason!

The ARDC Lab receives a new grant from AFOSR to continue work on the HyCUBE concept.  This grant is in collaboration with Prof. Gebre-Egziabher as PI, along with Prof. Ellen Longmire and Prof. Marien Simeni as co-PIs.

Nathan Raab successfully passed his Master's defense!  Congrats Nathan!

Alex Hayes presented a paper at the AAS Astrodynamics Specialist Conference in Big Sky, MT titled "Tracking Error Recoverability Analysis for Drag-Modulated LEO Spacecraft Using Successive Convexification."

Robert Halverson presented a paper co-authored with Jason Cheah and Prof. Caverly at the IEEE Conference on Control Technology and Applications (CCTA) in Bridgetown, Barbados titled "Robust Noncolocated mu-Tip Rate Control of Flexible Robotic Manipulators with Uncertain Dynamics."

Ryleigh McGiveron was awarded a UROP award for Fall 2023 to study the optimal parachute deployment location for a Mars entry vehicle. Congrats Ryleigh!

Ph.D. student Ping-Yen (a former ARDC Lab Master's student!) and Feodor Blinnikov join the lab.  Welcome Ping-Yen and Feodor!

Jason Cheah, Liam Elke, Keegan Bunker, and Robert Halverson have papers accepted to the 2024 AIAA SciTech Forum in Orlando, FL!  Congrats Jason, Liam, Keegan, and Robert!

Prof. Caverly presented a paper at the IFAC World Congress in Yokohama, Japan titled "Robust Mixed H2-Hinf Control Synthesis for Dual-Stage Hard Disk Drives Using Convex Optimization."

Jamie Lyman, Logan Anderson, and Jason Cheah presented papers at the 2023 American Control Conference in San Diego, CA.  Liam Elke, Alex Hayes, Robert Halverson, and Vinh Nguyen presented posters at the conference.

Prof. Caverly presented a paper at the 6th International Symposium on Space Sailing in New York, NY titled "Solar Sail Attitude Control Using Shape Modulation: The Cable-Actuated Bio-inspired Lightweight Elastic Solar Sail (CABLESSail) Concept."

Nathan Raab presented his paper titled "Trajectory Generation of a Cable-Driven Parallel Robot for Aerial Videography and Dynamic Workspace Optimization" at the CCToMM Mechanisms, Machines, and Mechatronics Symposium in Quebec City, QC.

Prof. Caverly presented a paper co-authored with Keegan Bunker, Samir Patel, and Vinh Nguyen at the 6th International Conference on Cable-Driven Parallel Robots in Nantes, France titled "Forward Kinematics and Online Self-Calibration of Cable-Driven Parallel Robots With Covariance-Based Data Quality Assessment."  The paper was selected as as the best research paper of the conference! Congrats to all the co-authors on this award!

Vinh Nguyen passed his preliminary oral exam!  Congrats Vinh!

Undergraduate students Nathan Gall, Niko Sexton, and James Johnson join the ARDC Lab.  Welcome Nathan, Niko, and James!

Robert Halverson and Jason Cheah's paper titled "Robust Noncolocated Mu-Tip Rate Control of Flexible Robotic Manipuloatrs with Uncertain Dynamics" is accepted to the IEEE Conference on Control Technology and Applications in Bridgetown, Barbados.  Congrats Robert and Jason!

Keegan Bunker, Erik Lehner, Soojeong Lee, and Logan Anderson passed the Ph.D. Written Preliminary Exam (WPE).  Congrats Keegan, Erik, Soojeong, and Logan!

The CABLESSail team as an abstract accepted for presentation at the 6th International Symposium on Space Sailing in New York, NY titled "Solar Sail Attitude Control Using Shape Modulation: The Cable-Actuated Bio-inspired Lightweight Elastic Solar Sail (CABLESSail) Concept."

Prof. Caverly gave a technical seminar at NASA Marshall Space Flight Center.

Logan Anderson was awarded NASA's NSTGRO fellowship to study "System Identification and Robust Control of Deployable Space Structures using Dissipativity Properties." Congrats Logan!

Julia Schatz's journal paper "Payload Trajectory Tracking of a 5-DOF Tower Crane with a Varying-Length Hoist Cable: A Passivity-Based Adaptive Control Approach" was conditionally accepted to Mechatronics!

All ARDC Lab graduate students presented at the Minnesota Graduate Aerospace Poster Symposium.

Logan, Jason, Liam, Alex, Robert, Erik, and Vinh presented posters at the Midwest Workshop on Control and Game Theory, hosted by UMN.

Prof. Caverly gave an invited talk at Texas A&M University's Aerospace Engineering Seminar Series.

Nathan Raab's paper titled "Trajectory Generation of a Cable-Driven Parallel Robot for Aerial Videography and Dynamic Workspace Optimization" is accepted to the CCToMM Mechanisms, Machines, and Mechatronics Symposium in Quebec City, QC.

The ARDC Lab has a paper accepted to CableCon 2023 in Nantes, France titled "Forward Kinematics and Online Self-Calibration of Cable-Driven Parallel Robots with Covariance-Based Data Quality Assessment."  This paper is the culmination of work performed by Keegan Bunker, Samir Patel, and Vinh Nguyen.

Manash Chakraborty and Prof. Caverly have a paper accepted to the 2023 IFAC World Congress in Yokohama, Japan titled "Robust Mixed H2-Hinf Control Synthesis for Dual-Stage Hard Disk Drives Using Convex Optimization."

Undergraduate student Will Roslansky joins the ARDC Lab.  Welcome Will!

Samir Patel's paper "Forward Kinematics of Cable-Driven Parallel Robots with Pose Estimation Error Covariance Bounds" is accepted for publication in Mechanism and Machine Theory!

Undergraduate students Ethan Kolby and Michael States join the ARDC Lab.  Welcome Ethan and Michael!

Jamie Lyman and Logan Anderson have papers accepted to the 2023 American Control Conference in San Diego, CA!

Robert Halverson presented his paper  "A Comparison of Linear Quadratic and Nonlinear Model Predictive Control applied to Station Keeping of Satellites in Areostationary Mars Orbits" at SciTech in the AIAA GNC Conference Graduate Student Paper Competition.

Ph.D. student Erik Lehner joins the ARDC Lab.  Welcome Erik!

Jason Cheah is awarded a UMII-MnDRIVE Graduate Assistantship Award! This research assistantship will provide Jason with research funding towards his project that is at the intersection of informatics and robotics.

Jason Cheah's paper "Robust Local Stabilization of Nonlinear Systems with Controller-Dependent Norm Bounds: A Convex Approach with Input-Output Sampling" is accepted for publication in the IEEE Control Systems Letters!

The ARDC Lab has been awarded a Grant-in-Aid of Research, Artistry and Scholarship from the Office of the Vice President of Research, University of Minnesota to develop and validate an accurate and computationally-efficient method to simulate the effects of fuel slosh on spacecraft motion.

Jason Cheah passes his preliminary oral exam!  Congrats Jason!

Undergraduate student Ryleigh McGiveron joins the ARDC Lab.  Welcome Ryleigh!

Manash Chakraborty successfully passed his doctoral final exam!  Congrats Manash!

Ph.D. student Soojeong Lee joins the ARDC Lab.  Welcome Soojeong!

Robert Halverson's AIAA SciTech paper is selected as a finalist for the AIAA GNC Conference Graduate Student Paper Competition.  Robert will present his paper titled "A Comparison of Linear Quadratic and Nonlinear Model Predictive Control applied to Station Keeping of Satellites in Areostationary Mars Orbits" in the AIAA GNC Conference Graduate Student Paper Competition session at SciTech.  Congrats Robert and good luck in the competition!

Alex Hayes, Jason Cheah, and Vinh Nguyen present posters at the 2022 Modeling, Estimation and Control Conference in Jersey City, NJ.  Prof. Caverly also presents the work of Ping-Yen Shen and Julia Schatz at the conference.

Manash Chakraborty's paper "Disturbance Modeling and Prediction of Closed-Loop Micro-Actuator Stroke Usage in Dual-Stage Hard Disk Drives" is accepted for publication in the ASME Letters in Dynamic Systems and Control!

Neel Puri's paper "Coupled Least-Squares Forward Kinematics and Extended Kalman Filtering for the Pose Estimation of a Cable-Driven Parallel Robot" is accepted for publication in the International Journal of Mechanisms and Robotic Systems!

Alex Hayes' paper "Model Predictive Tracking of Spacecraft Deorbit Trajectories Using Drag Modulation" is accepted for publication in Acta Astronautica!

Undergraduate students Chris Thacker and Michael Dallalah join the ARDC Lab. Welcome Chris and Michael!

Liam Elke presents his paper "Framework for Analyzing the Complex Interactions Between Spacecraft Motion and Slosh Dynamics in Low-G Environments" at the 2022 International Astronautical Congress in Paris, France.

The ARDC Lab has received the NASA Early Career Faculty Award to develop the Cable-Actuated Bio-Inspired Lightweight Elastic Solar Sail (CABLESSail) concept as a method of solar sail attitude control. See the AEM story here.

Robert Halverson has a paper accepted to the 2023 AIAA Guidance, Navigation, and Control Conference, as part of the AIAA SciTech Forum in National Harbor, MD!

Undergraduate student Sam Prokott joins the ARDC Lab.  Welcome Sam!

The ARDC Lab has received a seed grant from UMII-MnDRIVE to investigate "Control of Autonomous Aerial Vehicles: A Data-Driven Approach to Bridge the Gap Between Theory and Practice."

Neel Puri presented their paper "Pose Estimation of a Cable-Driven Parallel Robot Using Kalman Filtering and Forward Kinematics Error Covariance Bounds" at the 2022 USCToMM Symposium on Mechanical Systems and Robotics in Rapid City, SD.

Robert Halverson passed the Ph.D. Written Preliminary Exam (WPE).  Congrats Robert!

Master's student Nathan Raab joins the lab. Welcome Nathan!

Vinh Nguyen is awarded an NSF Graduate Research Fellowship Program Award to work on the robust control of cable-driven continuum manipulators!  Congrats Vinh!

Liam Elke passes his oral preliminary exam!  Congrats Liam!

Liam Elke's abstract is accepted for presentation at the 2022 International Astronautical Congress in Paris, France!

Neel Puri and Samir Patel presented their research at UMN's Undergraduate Research Symposium.

Undergraduate honors students Jamie Lyman and Gabriel Lundin join the ARDC Lab.  Welcome Jamie and Gabriel!

Prof. Caverly gave an invited talk at the University of Arizona's Aerospace and Mechanical Engineering Seminar.

Alex Hayes presented his paper "Atmospheric Density Estimation in Low-Earth Orbit for Drag-Modulated Spacecraft" at the AAS Guidance, Navigation and Control Conference in Breckenridge, CO.

Neel Puri's paper is accepted to the 2022 USCToMM Symposium on Mechanical Systems and Robotics!

Master's student Keegan Bunker and undergraduate researcher Ryan Levendusky join the ARDC Lab.  Welcome Keegan and Ryan!

Alex Hayes and Vinh Nguyen are awarded UMII-MnDRIVE Graduate Assistantship Awards! These research assistantships will provide Alex and Vinh with research funding towards their projects that are at the intersection of informatics and robotics.

Prof. Caverly gave a remote invited talk at the Instituto Politecnico Nacional's Center for Research and Development of Digital Technology (CITEDI).

Undergraduate researcher Anahita Eshghetorki joins the ARDC Lab.  Welcome Anahita!

Prof. Caverly served as an invited panelist and chair of the "Parallel and Cable Robots: Learning From Past For Future Frontiers," workshop at the RSI International Conference on Robotics and Mechatronics.

Alex Hayes' abstract is accepted to the 2022 AAS Guidance, Navigation and Control Conference!

Manash Chakraborty gave a presentation at UMN's Thirty Seventh MINT Research Review.

Prof. Caverly gave an invited talk at the State University of New York at Buffalo's Mechanical and Aerospace Engineering Seminar Series.

Prof. Caverly gave an remote invited talk at the University of New Mexico's Mechanical Engineering graduate seminar.

Julia Schatz presented her paper "Passivity-Based Adaptive Control of a 5-DOF Tower Crane" at the IEEE Conference on Control Technology and Applications.

Samir Patel is awarded a UROP Award for Fall 2021 to develop new forward kinematics algorithms for cable-driven parallel robots that explicitly account for measurement biases and calibration errors. Congrats Samir!

Undergraduate students Austin Bodin and Justin Dang join the ARDC Lab. Welcome Austin and Justin!

Prof. Caverly presented the paper "CDPR Forward Kinematics with Error Covariance Bounds for Unconstrained End-Effector Attitude Parameterizations" co-authored with Vinh Nguyen at the Fifth International Conference on Cable-Driven Parallel Robots.

Vinh Nguyen presented his IEEE RA-L paper "Cable-Driven Parallel Robot Pose Estimation using Extended Kalman Filtering with Inertial Payload Measurements" at the 2021 International Conference on Robotics and Automation (ICRA).

Samir Patel begins a summer research project in the ARDC Lab as part of UMN's Multicultural Summer Research Opportunities Program (MSROP).

Liam Elke begins an internship with NASA Langley Research Center.

Julia Schatz and Gabriel Sanchez successfully defend their honor thesis projects!

Jason Cheah presented his paper "Passivity-Based Pose Regulation and Jacobian-Based Force Distribution of a Cable-Driven Parallel Robot" at the 2021 American Control Conference.

Undergraduate student Logan Anderson joins the ARDC Lab.  Welcome Logan!

Manash Chakraborty begins an internship with Seagate Technology.

The paper "Passivity-Based Adaptive Trajectory Control of an Underactuated 3-DOF Overhead Crane" co-authored by Ping-Yen Shen and Julia Schatz is accepted to Control Engineering Practice!

Vinh Nguyen's paper "CDPR Forward Kinematics With Error Covariance Bounds For Unconstrained End-Effector Attitude Parameterizations" is accepted to the Fifth International Conference on Cable-Driven Parallel Robots!

Julia Schatz's paper "Passivity-Based Adaptive Control of a 5-DOF Tower Crane" is accepted to the 2021 IEEE Conference on Control Technology and Applications!

Vinh Nguyen passed the Ph.D. Written Preliminary Exam (WPE) and was awarded the 2021 John and Jane Dunning Copper Fellowship! Congrats Vinh!

Gabriel Sanchez and Robert Halverson presented their research at UMN's Undergraduate Research Symposium.

The ARDC Lab has received a DoD DEPSCoR award to investigate On-the-Fly Flight Test Maneuver Optimization and Nonlinear Modeling of Hypersonic Systems. 

Prof. Caverly and James Forbes published un updated version of their preprint text "LMI Properties and Applications in Systems, Stability, and Control Theory" on arXiv.  This document collects and organizes a large number of useful LMI tricks from the literature.  Stay tuned for updates to this document as additional LMI properties and applications are added!

Liam Elke presented his paper "A Low-Cost and Low-Risk Testbed for Control Design of Launch Vehicles and Landing Systems" at the IEEE Aerospace Conference.

Robert Halverson presented his paper "Station Keeping of Satellites in Areostationary Mars Orbit using Model Predictive Control" at the AAS/AIAA Space Flight Mechanics Meeting.

Vinh Nguyen's paper "Cable-Driven Parallel Robot Pose Estimation using Extended Kalman Filtering with Inertial Payload Measurements" is accepted to the IEEE Robotics and Automation Letters. Congrats Vinh! This is the first journal paper published by a student in the ARDC Lab! Vinh will also present this paper at the 2021 International Conference on Robotics and Automation (ICRA).

Jason Cheah's paper "Passivity-Based Pose Regulation and Jacobian-Based Force Distribution of a Cable-Driven Parallel Robot" is accepted to the 2021 American Control Conference!  

Jacob Brown presented his paper "Gain-Scheduled-Conic-Sector-Based Robust Control of an Aeroelastic Airfoil" at the AIAA Guidance, Navigation, and Control Conference within the 2021 AIAA SciTech Forum.

Ph.D. students Alex Hayes and Manash Chakraborty pass their preliminary oral exams!

Liam Elke's paper "A Low-Cost and Low-Risk Testbed for Control Design of Launch Vehicles and Landing Systems" is accepted to the IEEE Aerospace Conference!

Robert Halverson's paper "Station Keeping of Satellites in Areostationary Mars Orbit using Model Predictive Control" is accepted to the AAS/AIAA Space Flight Mechanics Meeting! 

Prof. Caverly becomes an Associate Editor for the IEEE Robotics and Automation Letters.

Manash Chakraborty gave a presentation at UMN's Thirty Sixth MINT Research Review.

Undergraduate honors student Julia Schatz joins the lab.  Welcome Julia!

Jacob Brown's paper "Gain-Scheduled-Conic-Sector-Based Robust Control of an Aeroelastic Airfoil" is accepted to the AIAA Guidance, Navigation, and Control Conference at the 2021 AIAA SciTech Forum!

The ARDC Lab presented 2 papers and 2 posters at the 2020 American Control Conference.  Ping Yen Shen presented his paper "Noncolocated Passivity-Based Control of a 2 DOF Tower Crane with a Flexible Hoist Cable," while Alex Hayes presented his paper "Passivity-Based Control Allocation of a Redundantly-Actuated Parallel Robotic Manipulator with a Point-Mass Payload."  Manash  Chakraborty presented his poster "Conic Controller Synthesis with Gain-Scheduled Internal Models for Robust Trajectory Tracking" and Jason Cheah presented his poster "Dynamic Control Allocation of Redundantly-Actuated Cable-Driven Parallel Robots."

Prof. Caverly published a paper in the IEEE Transactions on Control Systems Technology with colleagues Avishai Weiss and Stefano Di Cairano from Mitsubishi Electric Research Laboratories titled "Electric Satellite Station Keeping, Attitude Control, and Momentum Management by MPC".

Ping-Yen Shen passed his Master's defense!

Alex Hayes presented his paper "Dynamic Stability Analysis of a Hypersonic Entry Vehicle with a Non-Linear Aerodynamic Model" at the virtual AIAA AVIATION conference.

Liam Elke begins an internship with NASA Langley Research Center and Alex Hayes begins an internship with NASA Ames Research Center.

Manash Chakraborty begins an internship with Seagate Technology.

Robert Halverson and Jacob Brown presented their research at UMN's Undergraduate Research Symposium.

Jason Cheah, Liam Elke, and Alex Hayes passed the Ph.D. Written Preliminary Exam (WPE)! Congrats Jason, Liam, and Alex!

Jason Cheah and Manash Chakraborty have posters accepted at the 2020 American Control Conference in Denver, CO!

Alex Hayes has a paper accepted at AIAA AVIATION in Reno, NV!

Robert Halverson and Prof. Caverly attended the AIAA SciTech Forum in Orlando, FL. Robert presented the paper "Attitude Control of a Spacecraft Appendage using Parallel Feedforward Control" and Prof. Caverly presented the paper "Control Allocation and Quantization of a GEO Satellite with 4DOF Gimbaled Thrusters" as part of the Space Flight Mechanics Meeting.  Robert and former lab member Casey Carlson received AIAA GNC Travel Awards to attend the conference.

Prof. Caverly visited Duke University to give the MEMS departmental seminar.

Alex Hayes and Ping-Yen Shen both have papers accepted at the 2020 American Control Conference in Denver, CO!

Undergraduate students David Sundvold, Gabriel Sanchez, Tyler Douglas, Josh Mays, Samir Patel, and John-Paul Heinzen join the lab.

Prof. Caverly attended the IEEE Conference on Decision and Control in Nice, France and presented a paper co-authored with Ph.D. student Manash Chakraborty on "Convex Synthesis of Strictly Negative Imaginary Feedback Controllers."

Prof. Caverly visited Washington University in St. Louis to give the ESE departmental seminar.

Ping-Yen Shen and Prof. Caverly attended the ASME Dynamic Systems and Control Conference in Park City, UT.  Ping-Yen presented a research poster titled "Dynamic Modeling and Passivity-Based Control of a Tower Crane," and Prof. Caverly presented a paper co-authored with Dylan Caverly and James Forbes titled "Periodic Tracking Control Using Gain-Scheduled Fourier Series-Based Internal Models."

Gradute students Liam Elke and Sze Kwan (Jason) Cheah, and undergraduate student Tianxu Qin join the lab.

Prof. Caverly and Robert Halverson's paper titled "Attitude Control of a Spacecraft Flexible Appendage using Parallel Feedforward Control" is accepted to the 2020 AIAA/AAS Space Flight Mechanics Meeting at the AIAA SciTech Forum in Orlando, FL!

Prof. Caverly's paper titled "Optimal Linear Combination of Sensors and Actuators to Enforce an Interior Conic Open-Loop System," is published in the International Journal of Robust and Nonlinear Control.

Undergraduate student Vinh Nguyen joins the lab.

Prof. Caverly and Manash Chakraborty's paper titled "Optimal Synthesis of a Strictly Negative Imaginary Feedback Controller" is accepted to the 2019 IEEE Conference on Decision and Control in Nice, France!

Prof. Caverly presented a paper co-authored with James Forbes titled "H-Infinity-Optimal Strictly Positive Real Parallel Feedforward Control" at the 2019 American Control Conference in Philadelphia, PA.

Undergraduate students Jacob Wagner and Neel Puri join the lab.

Ph.D. student Manash Chakraborty presented a research poster at the Midwest Conference on Control and Game Theory in St. Louis, MO.  Manash was presented with a travel award for his poster!  Manash also passed the Ph.D. Written Preliminary Exam (WPE)! Congrats Manash!

Prof. Caverly's paper co-authored with Harsh Godbole and James Forbes, titled "Dynamic Modeling and Adaptive Control of a Single Degree-of-Freedom Flexible Cable-Driven Parallel Robot," is published in the ASME Journal of Dynamic Systems, Measurement, and Control.

Prof. Caverly and James Forbes published the preprint text "LMI Properties and Applications in Systems, Stability, and Control Theory" on arXiv.  This document collects and organizes a large number of useful LMI tricks from the literature.  Stay tuned for updates to this document as additional LMI properties and applications are added!