Books/Preprints

1. R. J. Caverly and J. R. Forbes, LMI Properties and Applications in Systems, Stability and Control Theory, Version 4 preprint (174 pages) published May 22, 2024 at https://arxiv.org/abs/1903.08599. 

Book Chapters

1. L. Burlion, R. J. Caverly and J.-M. Biannic, "Satellite Control," Encyclopedia of Systems and Control Engineering, Elsevier, in press. [pdf]

Journal Publications

Equal contribution to a publication indicated by *.

28. A. D. Hayes and R. J. Caverly "Atmospheric Density-Compensating Model Predictive Control for Targeted Reentry of Drag-Modulated Spacecraft," Journal of Guidance, Control, and Dynamics, in press. [pdf]

27. S. K. Cheah, D. Bhattacharjee, M. S. Hemati and R. J. Caverly "Control Synthesis for a Hypersonic Vehicle Flight Testing with Input-Output-Sampled Nonlinearities," Journal of Guidance, Control, and Dynamics, Vol. 48, No. 4, pp. 855-869, 2025. [pdf]

26. R. D. Halverson, A. Weiss, G. Lundin and R. J. Caverly "Autonomous Station Keeping of Satellites in Areostationary Mars Orbit: A Predictive Control Approach," Acta Astronautica, Vol. 203, pp. 1-15, 2025. [pdf]

25. R. J. Caverly, S. K. Cheah, K. Bunker, S. Patel, N. Sexton and V. L. Nguyen "Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics," ASME Journal of Mechanisms and Robotics, Vol. 17, No. 1, p. 010904, 2025. [pdf]

24. S. K. Cheah, A. Hayes and R. J. Caverly "Adaptive Passivity-Based Pose Tracking Control of Cable-Driven Parallel Robots for Multiple Attitude Parameterizations," IEEE Transactions on Control Systems Technology, Vol. 32, No. 1, pp. 202-213, 2024. [pdf]

23. J. Schatz and R. J. Caverly "Payload Trajectory Tracking of a 5-DOF Tower Crane with a Varying-Length Hoist Cable: A Passivity-Based Adaptive Control Approach," Mechatronics, Vol. 94, p. 103027, 2023. [pdf]

22. N. Puri and R. J. Caverly "Coupled Least-Squares Forward Kinematics and Extended Kalman Filtering for the Pose Estimation of a Cable-Driven Parallel Robot," International Journal of Mechanisms and Robotic Systems, Vol. 5, No. 3, pp. 270-289, 2023. [pdf]

21. S. K. Cheah*, D. Bhattacharjee*, M. S. Hemati and R. J. Caverly "Robust Local Stabilization of Nonlinear Systems with Controller-Dependent Norm Bounds: A Convex Optimization Approach with Input-Output Sampling," IEEE Control Systems Letters, Vol. 7, pp. 931-936, 2023. Presented at American Control Conference, San Diego, CA, May 31 - June 2, 2023. [pdf]

20. S. Patel, V. L. Nguyen and R. J. Caverly "Forward Kinematics of Cable-Driven Parallel Robots with Pose Estimation Error Covariance Bounds," Mechanism and Machine Theory, Vol. 183, p. 105231, 2023. [pdf]

19. A. D. Hayes and R. J. Caverly "Model Predictive Tracking of Spacecraft Deorbit Trajectories Using Drag Modulation," Acta Astronautica, Vol. 202, pp. 670-685, 2023. [pdf]

18. M. Chakraborty and R. J. Caverly "Disturbance Modeling and Prediction of Closed-Loop Micro-Actuator Stroke Usage in Dual-Stage Hard Disk Drives," ASME Letters in Dynamic Systems and Control, Vol. 2, No. 4, p. 041003, 2022. [pdf]

17. P.-Y. Shen, J. Schatz and R. J. Caverly "Passivity-Based Adaptive Trajectory Control of an Underactuated 3-DOF Overhead Crane," Control Engineering Practice, Vol. 112, p. 104805, 2021.  Presented at Modeling, Estimation and Control Conference, Jersey City, NJ, October 2-5, 2022. [pdf]

16. V. L. Nguyen and R. J. Caverly "Cable-Driven Parallel Robot Pose Estimation using Extended Kalman Filtering with Inertial Payload Measurements," IEEE Robotics and Automation Letters, Vol. 6, No. 2, pp. 3615-3622, 2021. Presented at IEEE International Conference on Robotics and Automation (ICRA), Xi'an, China, May 30 - June 5, 2021. [pdf]

15. R. J. Caverly, S. Di Cairano and A. Weiss "Electric Satellite Station Keeping, Attitude Control, and Momentum Management by MPC," IEEE Transactions on Control Systems Technology, Vol. 29, No. 4, pp. 1475-1489, 2021. [pdf]

14. S. Wang, M. W. Levin and R. J. Caverly "Optimal Parking Management of Connected Autonomous Vehicles: A Control Theoretic Approach," Transportation Research Part C: Emerging Technologies, Vol. 124, p. 102924, 2021. [pdf]

13.  R. J. Caverly, R. Pates, L. J. Bridgeman and J. R. Forbes "MIMO Nyquist Interpretation of the Large Gain Theorem," International Journal of Control, Vol. 93, No. 10, pp. 2326-2335, 2020. [pdf]

12.  R. J. Caverly "Optimal Linear Combination of Sensors and Actuators to Enforce an Interior Conic Open-Loop System," International Journal of Robust and Nonlinear Control, Vol. 29, No. 17, pp. 6288-6310, 2019. [pdf]

11.  H. A. Godbole, R. J. Caverly and J. R. Forbes "Dynamic Modeling and Adaptive Control of Flexible Cable-Driven Parallel Robots," ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 141, No. 10, pp. 101002-101002-18, 2019. [pdf]

10.  R. J. Caverly and J. R. Forbes "H-Infinity-Optimal Parallel Feedforward Controller Design using Minimum Gain," IEEE Control Systems Letters, Vol. 2, No. 4, pp. 677-682, 2018. Presented at IEEE Conference on Decision and Control, Miami Beach, FL, December 17-19, 2018. [pdf]

9.  R. J. Caverly and J. R. Forbes "Flexible Planar Cable-Driven Parallel Manipulator Control: Maintaining Positive Cable Tensions," IEEE Transactions on Control Systems Technology, Vol. 26, No. 5, pp. 1874-1883, 2018. [pdf]

8.  R. J. Caverly and J. R. Forbes "Dynamic Modeling, Trajectory Optimization, and Control of a Flexible Kiteplane," IEEE Transactions on Control Systems Technology, Vol. 25, No. 4, pp. 1297-1306, 2017. [pdf]

7.  R. J. Caverly and J. R. Forbes "State Estimator Design for a Single Degree of Freedom Cable-Actuated System," Journal of the Franklin Institute, Vol. 353, No. 18, pp. 4845-4869, 2016. [pdf]

6.  R. J. Caverly, C. Li, E. J. Chae, J. R. Forbes and Y. L. Young "Modeling and Control of Flow-Induced Vibrations of a Flexible Hydrofoil in Viscous Flow,'' Smart Materials and Structures, Vol. 25, No. 6, pp. 065007-065020, 2016. [pdf]

5.  R. J. Caverly, D. E. Zlotnik and J. R. Forbes "Saturated Control of Flexible-Joint Manipulators Using a Hammerstein Strictly Positive Real Compensator," Robotica, Vol. 34, No. 6, pp. 1367-1382, 2016. [pdf]

4.  R. J. Caverly, J. R. Forbes and D. Mohammadshahi "Dynamic Modeling and Passivity-Based Control of a Single Degree of Freedom Cable-Actuated System," IEEE Transactions on Control Systems Technology, Vol. 23, No. 3, pp. 898-909, 2015. [pdf]

3.  R. J. Caverly and J. R. Forbes "Dynamic Modeling and Noncollocated Control of a Flexible Planar Cable-Driven Manipulator," IEEE Transactions on Robotics, Vol. 30, No. 6, pp. 1386-1397, 2014. [pdf]

2.  R. J. Caverly, D. E. Zlotnik, L. J. Bridgeman and J. R. Forbes "Saturated Proportional Derivative Control of Flexible-Joint Manipulators," Robotics and Computer-Integrated Manufacturing, Vol. 30, No. 6, pp. 658-666, 2014. [pdf]

1.  R. J. Caverly, D. E. Zlotnik and J. R. Forbes "Saturated Proportional Derivative Control of a Single-Link Flexible-Joint Manipulator," Transactions of the Canadian Society for Mechanical Engineering: Special Issue on Mechanisms, Machines, and Mechatronics, Vol. 38, No. 2, pp. 241-250, 2014. [pdf]

Refereed Conference Publications

Speaker indicated by *.

45. L. S. Anderson, R. J. Caverly and J. A. Grauer "Active Flutter Suppression Control Design for Wind-Tunnel Testing using mu-Synthesis," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Orlando, FL, January 12-16, 2025, to appear.

44. H. Mahnke and R. J. Caverly* "Fast and Reliable Iterative Cable-Driven Parallel Robot Forward Kinematics: A Quadratic Approximation Approach," Seventh International Conference on Cable-Driven Parallel Robots (CableCon), Hong Kong, China, July 8-11, 2025. Appears in Cable-Driven Parallel Robots: Proceedings of the 7th International Conference on Cable-Driven Parallel Robots, Mechanisms and Machine Series, Vol. 182, Cham, Switzerland, Springer International, pp. 3-15, 2025. [pdf]

43. M. Yuan*, R. J. Caverly and Y. Yu "Filtering-Linearization: A First-Order Method for Nonconvex Trajectory Optimization with Filter-Based Warm-Starting," American Control Conference, Denver, CO, July 8-10, 2025, pp. 547-552. [pdf]

42. V. L. Nguyen and R. J. Caverly* "Kalman-Filter-Based Pose Estimation of Cable-Driven Parallel Robots Using Cable-Length Measurements with Colored Noise," International Conference on Robotics and Automation, Atlanta, GA, May 19-23, 2025, pp. 12237-12243. [pdf]

41. E. Lehner*, R. J. Caverly, B. Huang and R. Sosseh "A Comparison of Multi-Objective Optimal Control Methodologies for Dual-Stage Hard Disk Drives," Modeling, Estimation and Control Conference, Chicago, IL, October 27-30, 2024. Appears in IFAC-PapersOnline, Vol. 58, No. 28, pp. 959-964. [pdf]

40. K. Sawant*, R. J. Caverly, J. Poon and S. Dhople "Real-Time Model Predictive Control of a DC-DC Buck Converter," IEEE Energy Conversion Congress & Expo, Phoenix, AZ, October 20-24, 2024, pp. 3990-3996.

39. R. J. Caverly* and V. L. Bageshwar "State Feedback Synthesis for Robust Performance with Probabilistic Uncertainty," American Control Conference, Toronto, ON, Canada, July 10-12, 2024, pp. 1883-1888. [pdf]

38. L. Anderson*, R. J. Caverly and A. Lamperski "Statistical Bounds on Identified QSR Dissipative Properties from Input-Output Data," American Control Conference, Toronto, ON, Canada, July 10-12, 2024, pp. 1378-1383. [pdf]

37. S. K. Cheah*, B. Bhattacharjee, M. S. Hemati and R. J. Caverly "Control Synthesis for a Hypersonic Vehicle with Harmonic Excitation Inputs and Input-Output-Sampled Nonlinearities," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Orlando, FL, January 8-12, 2024, AIAA 2024-1589. [pdf]

36. W. J. Elke* and R. J. Caverly "Dynamics, Guidance, and Control of a Conceptual Low-Cost Testbed for Validating Space Vehicle GNC Algorithms," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Orlando, FL, January 8-12, 2024, AIAA 2024-0778. [pdf]

35. R. D. Halverson*, S. K. Cheah and R. J. Caverly "Robust Noncolocated mu-Tip Rate Control of Flexible Robotic Manipulators with Uncertain Dynamics," IEEE Conference on Control Technology and Applications, Bridgetown, Barbados, August 16-18, 2023, pp. 327-332. [pdf]

34. R. J. Caverly*, M. Chakraborty, B. Huang and R. Sosseh "Robust Mixed H2-Hinf Control Synthesis for Dual-Stage Hard Disk Drives Using Convex Optimization," IFAC World Congress, Yokohama, Japan, July 9-14, 2023.  Appears in IFAC-PapersOnline, Vol. 56, No. 2, pp. 10620-10625. [pdf]

33. R. J. Caverly*, K. Bunker, S. Patel and V. L. Nguyen "Forward Kinematics and Online Self-Calibration of Cable-Driven Parallel Robots with Covariance-Based Data Quality Assessment," Sixth International Conference on Cable-Driven Parallel Robots, Nantes, France, June 25-28, 2023.  Appears in Cable-Driven Parallel Robots: Proceedings of the 6th International Conference on Cable-Driven Parallel Robots, Mechanisms and Machine Series, Vol. 132, Cham, Switzerland, Springer International, pp. 369-380, 2023. [pdf]

32. N. Raab*, A. Lamperski and R. J. Caverly "Trajectory Generation of a Cable-Driven Parallel Robot for Aerial Videography and Dynamic Workspace Optimization," CCToMM Mechanisms, Machines, and Mechatronics Symposium, Quebec City, Canada, June 19-20, 2023, P11. [pdf]

31. C. Petersen, R. J. Caverly*, A Weiss and S. Phillips "Safe and Constrained Rendezvous, Proximity Operations and Docking," American Control Conference, San Diego, CA, May 31 - June 2, 2023, pp. 3645-3661. [pdf]

30. R. J. Lyman*, S. K. Cheah and R. J. Caverly "Noncolocated mu-Tip Trajectory Tracking of Redundantly-Actuated Flexible Robotic Manipulators," American Control Conference, San Diego, CA, May 31 - June 2, 2023, pp. 4671-4676. [pdf]

29. L. Anderson*, R. J. Caverly and A. Lamperski "Gain-Scheduled QSR-Dissipative Systems: An Input-Output Approach," American Control Conference, San Diego, CA, May 31 - June 2, 2023, pp. 2417-2423. [pdf]

28. R. D. Halverson*, A. Weiss and R. J. Caverly "A Comparison of Linear Quadratic and Nonlinear Model Predictive Control Applied to Station Keeping of Satellites in Areostationary Mars Orbits," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, National Harbor, MD, January 23-27, 2023, AIAA 2023-2000. [pdf]

27. N. Puri* and R. J. Caverly "Pose Estimation of a Cable-Driven Parallel Robot Using Kalman Filtering and Forward Kinematics Error Covariance Bounds," USCToMM Symposium on Mechanical Systems and Robotics, Rapid City, SD, May 19-21, 2022. Appears in USCTOMM Symposium on Mechanical Systems and Robotics, Mechanisms and Machine Science Series, Vol. 118, Cham, Switzerland, Springer International, 2022, pp. 65-75. [pdf]

26. J. Schatz* and R. J. Caverly "Passivity-Based Adaptive Control of a 5-DOF Tower Crane," IEEE Conference on Control Technology and Applications, San Diego, CA, August 8-11, 2021, pp. 1109-1114. [pdf]

25. V. L. Nguyen and R. J. Caverly* "CDPR Forward Kinematics With Error Covariance Bounds For Unconstrained End-Effector Attitude Parameterizations," Fifth International Conference on Cable-Driven Parallel Robots, Virtual Conference, July 7-9, 2021. Appears in Cable-Driven Parallel Robots: Proceedings of the 5th International Conference on Cable-Driven Parallel Robots, Mechanisms and Machine Science Series, Vol. 104, Cham, Switzerland, Springer International, 2021, pp. 37-49.  [pdf]

24. S.-K. Cheah* and R. J. Caverly "Passivity-Based Pose Regulation and Jacobian-Based Force Distribution of a Cable-Driven Parallel Robot," American Control Conference, New Orleans, LA, May 26-28, 2021, pp. 123-128. [pdf]

23. S. Wang*, M. Levin and R. J. Caverly "Optimal Parking Management of Connected Autonomous Vehicle," American Control Conference, New Orleans, LA, May 26-28, 2021, pp. 1019-1024. [pdf]

22. W. J. Elke*, J. Pei, D. Gebre-Egziabher and R. J. Caverly "A Low-Cost and Low-Risk Testbed for Control Design of Launch Vehicles and Landing Systems," IEEE Aerospace Conference, Virtual Event, March 6-13, 2021. [pdf]

21. J. J. Brown* and R. J. Caverly "Gain-Scheduled-Conic-Sector-Based Robust Control of an Aeroelastic Airfoil," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Virtual Event, January 11-15 & 19-21, 2012, AIAA 2021-1562. [pdf]

20. P.-Y. Shen* and R. J. Caverly "Noncolocated Passivity-Based Control of a 2DOF Tower Crane with a Flexible Hoist Cable," American Control Conference, Denver, CO, July 1-3, 2020, pp. 5046-5051. [pdf]

19. A. Hayes* and R. J. Caverly "Passivity-Based Control Allocation of a Redundantly-Actuated Parallel Robotic Manipulator with a Point-Mass Payload," American Control Conference, Denver, CO, July 1-3, 2020, pp. 2432-2437. [pdf]

18.  R. J. Caverly* and M. Chakraborty "Optimal Synthesis of a Strictly Negative Imaginary Feedback Controller," IEEE Conference on Decision and Control, Nice, France, Dec. 11-13,  pp. 7578-7583. [pdf]

17.  D. Caverly, R. J. Caverly* and J. R. Forbes "Periodic Tracking Control Using Gain-Scheduled Fourier Series-Based Internal Models," ASME Dynamic Systems and Control Conference, Park City, UT, Oct. 8-11, 2019, p. 8945. [pdf]

16.  R. J. Caverly* and J. R. Forbes "H-Infinity-Optimal Strictly Positive Real Parallel Feedforward Control," American Control Conference, Philadelphia, PA, Jul. 10-12, 2019, pp. 5185-5190. [pdf]

15.  R. J. Caverly and J. R. Forbes* "Linearly Combining Sensor Measurements Optimally to Enforce an SPR Transfer Matrix," IEEE Conference on Control Technology and Applications, Copenhagen, Denmark, Aug. 21-24, 2018, pp. 1289-1294. [pdf]

14.  R. J. Caverly*, S. Di Cairano and A. Weiss "Split-Horizon MPC for Coupled Station Keeping, Attitude Control, and Momentum Management of GEO Satellites using On-Off Electric Thrusters," American Control Conference, Milwaukee, WI, Jun. 27-29, 2018, pp. 652-657. [pdf]

13.  R. J. Caverly, S. Di Cairano and A. Weiss* "On-Off Quantization of an MPC Policy for Coupled Station Keeping, Attitude Control, and Momentum Management of GEO Satellites," European Control Conference, Limassol, Cyprus, Jun. 12-15, 2018, pp. 3114-3119. [pdf]

12.  R. J. Caverly* and J. R. Forbes "Zero Shaping of Nonminimum Phase Aircraft Dynamics," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Kissimmee, FL, Jan. 8-12, 2018, p. 601. [pdf]

11.  H. A. Godbole*, R. J. Caverly and J. R. Forbes "Modelling of Flexible Cable-Driven Parallel Robots using a Rayleigh-Ritz Approach," Third International Conference on Cable-Driven Parallel Robots (CableCon 2017), Quebec City, Canada, Aug. 2-4, 2017. Appears in Cable-Driven Parallel Robots: Proceedings of the Third International Conference on Cable-Driven Parallel Robots, Mechanisms and Machine Science Series, Vol. 53, Cham, Switzerland, Springer International, 2018, pp. 3-14. [pdf]

10.  R. J. Caverly, J. R. Forbes* "Nyquist Interpretation of the Large Gain Theorem," IFAC World Congress, Toulouse, France, Jul. 9-14, 2017.  Appears in IFAC-PapersOnLine: Vol. 50, No. 1, pp. 3606-3611, 2017. [pdf]

9.  R. J. Caverly*, J. R. Forbes "Regional Pole and Zero Placement with Static Output Feedback via the Modified Minimum Gain Lemma," American Control Conference, Seattle, WA, May 24-26, 2017, pp. 364-369. [pdf]

8.  R. J. Caverly, J. R. Forbes, B. P. Danowsky* and P. M. Suh "Gust Load Alleviation of a Flexible Aircraft using a Disturbance Observer," AIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum, Grapevine, TX, Jan. 9-13, 2017, p. 1718. [pdf]

7.  R. J. Caverly*, A. R. Girard, I. V. Kolmanovsky and J. R. Forbes "Nonlinear Dynamic Inversion of a Flexible Aircraft," IFAC Symposium on Automatic Control in Aerospace (ACA), Sherbrooke, QC, Canada, Aug. 21-25, 2016. Appears in IFAC-PapersOnLine: Vol. 49, No. 17, pp. 338-342, 2016. [pdf]

6.  R. J. Caverly* and J. R. Forbes "Modeling and Control of a Flexible Kiteplane with Unsteady Aerodynamics," American Control Conference, Boston, MA, Jul. 6-8, 2016, pp. 4972-4977. [pdf]

5.  R. J. Caverly* and J. R. Forbes "Robust Controller Design using the Large Gain Theorem: The Full-State Feedback Case," American Control Conference, Boston, MA, Jul. 6-8, 2016, pp. 3832-3837. Awarded best presentation in session. [pdf]

4.  R. J. Caverly* and J. R. Forbes "Maintaining Positive Cable Tensions During Operation of a Single Degree of Freedom Flexible Cable-Driven Parallel Manipulator," American Control Conference, Chicago, IL, Jul. 1-3, 2015, pp. 1205-1210. Awarded best presentation in session. [pdf]

3.  L. J. Bridgeman*, R. J. Caverly and J. R. Forbes "Conic-Sector-Based Synthesis: Theory and Experiments," American Control Conference, Portland, OR, Jun. 4-6, 2014, pp. 4931-4936. Awarded best presentation in session.

2.  W. Khan, R. Caverly and M. Nahon* "Propellor Slipstream Model for Small Unmanned Aerial Vehicles," AIAA Modeling and Simulation Technologies Conference, Boston, MA, Aug. 19-22, 2013, AIAA 2013-4907. Received AIAA Best Paper Award.

1.  R. J. Caverly*, D. E. Zlotnik and J. R. Forbes "Saturated Proportional Derivative Control of a Single-Link Flexible-Joint Manipulator," CCToMM Mechanisms, Machines, and Mechatronics Symposium, Montreal, Canada, May 30-31, 2013, P05. [pdf]

Abstract Refereed Conference Publications

Speaker indicated by *.

23. J. A. Grauer, J. M. White, B. K. Stanford, T. G. Ivanco, N. T. Nguyen, C. J. Forte, J. F. Quindlen, H. S. Hussain, L. S. Anderson and R. J. Caverly "Design and Evaluation of Active Flutter Suppression Control Laws for the IAWTM Wind Tunnel Test," AIAA SciTech Forum, Orlando, FL, January 12-16, 2025, to appear.

22. S. Lee*, K. Bunker* and R. J. Caverly "CABLESSail: Solar Sail Momentum Management Using Cable-Actuated Shape Control," 7th International Symposium on Space Sailing, Delft, Netherlands, June 30 - July 4, 2025. [pdf]

21. P.-Y. Shen* and R. J. Caverly "Solar Cruiser Momentum Management Using Model Predictive Control," 7th International Symposium on Space Sailing, Delft, Netherlands, June 30 - July 4, 2025. [pdf]

20. N. A. Gall* and R. J. Caverly "Predictive Station Keeping of Areostationary Satellites Using Natural Motion Trajectories," AIAA Region V Student Conference, Minneapolis, MN April 3-4, 2025, AIAA 2025-99106.

19. A. Bodin, M. States, S. Lee, N. Raab and R. J. Caverly* "Design, Estimation, and Control of a Cable-Driven Solar Sail Boom Testbed Prototype," AIAA SciTech Forum, Orlando, FL, January 6-10, 2025, AIAA 2025-2835. [pdf]

18. N. A. Gall*, R. D. Halverson and R. J. Caverly "Station Keeping of Areostationary Mars Orbit Satellites Using Linear Time-Varying Model Predictive Control" AAS/AIAA Astrodynamics Specialist Conference, Broomfield, CO, August 11-15, 2024, AAS 24-456. [pdf]

17. W. J. Elke* and R. J. Caverly "Recreation of an Apollo-Era Separation Anomaly using a Low-g Slosh Mechanical Analog" AAS Guidance, Navigation and Control Conference, Breckenridge, CO, February 2-7, 2024, AAS 24-093. [pdf]

16. R. D. Halverson*, J. C. Bruer and R. J. Caverly "Cislunar Orbit Trajectory Design using Predictive Control Techniques" AAS Guidance, Navigation and Control Conference, Breckenridge, CO, February 2-7, 2024, AAS 24-153. [pdf]

15. S. Lee* and R. J. Caverly "Robust Cable-Actuated Shape Control of a Flexible Solar Sail Boom for the CABLESSail Concept" AAS Guidance, Navigation and Control Conference, Breckenridge, CO, February 2-7, 2024, AAS 24-071. [pdf]

14. R. D. Halverson, A. Brevick*, K. Houser, K. Strandjord and R. J. Caverly "Improvements in Martian Entry Vehicle Navigation using Satellite Constellations" AAS Guidance, Navigation and Control Conference, Breckenridge, CO, February 2-7, 2024, AAS 24-042. [pdf]

13. R. D. Halverson, R. McGiveron, M. S. Hemati and R. J. Caverly* "Towards Predictive Control with Atmospheric Adaptation for Martian Entry Systems" AAS Guidance, Navigation and Control Conference, Breckenridge, CO, February 2-7, 2024, AAS 24-048. [pdf]

12. W. J. Elke*, J. Johnson, W. Roslansky, D. Gebre-Egziabher and R. J. Caverly "Design, Fabrication, and Flight of the Cost- and Risk-Reducing Quadcopter System for GNC Testing" AAS Guidance, Navigation and Control Conference, Breckenridge, CO, February 2-7, 2024, AAS 24-P15. [pdf]

11. S. K. Cheah* and R. J. Caverly "Analyzing Nonlinear Structures with Random Excitation using Integral Quadratic Constraints" Society for Experimental Mechanics International Model Analysis Conference (SEM IMAC) XLII, Orlando, FL, January 28 - February 1, 2024. Appears in Nonlinear Structures & Systems, Vol. 1: Proceedings of the 42nd IMAC, A Conference and Exposition on Structural Dynamics 2024, Conference Proceedings of the Society for Experimental Mechanics Series, Vol. 53, Cham, Switzerland, Springer Nature, 2024, pp. 79-82. [pdf]

10. K. R. Bunker* and R. J. Caverly "Modular Dynamic Modeling and Simulation of a Cable-Actuated Flexible Solar Sail," AIAA/AAS Space Flight Mechanics Meeting, AIAA SciTech Forum, Orlando, FL, January 8-12, 2024, AIAA 2024-2436. [pdf]

9. R. D. Halverson*, D. Gebre-Egziabher and R. J. Caverly "Attitude Control of Dual-Spin Satellites in Low-Earth Orbit via Predictive Control and Magnetic Actuation," AIAA/AAS Space Flight Mechanics Meeting, AIAA SciTech Forum, Orlando, FL, January 8-12, 2024, AIAA 2024-2278. [pdf]

8. A. D. Hayes* and R. J. Caverly "Tracking Error Recoverability Analysis for Drag-Modulated LEO Spacecraft Using Successive Convexification," AAS/AIAA Astrodynamics Specialist Conference, Big Sky, MT, August 13-17, 2023, AAS-23-345. [pdf]

7. R. J. Caverly*, K. Bunker, N. Raab, V. L. Nguyen, G. Saner, Z. Chen, T. Douvier, R. J. Lyman, O. Sorby, B. Sorge, E. Teshale and B. Toriseva "Solar Sail Attitude Control Using Shape Modulation: The Cable-Actuated Bio-inspired Lightweight Elastic Solar Sail (CABLESSail) Concept," International Symposium on Space Sailing, New York, NY, June 5-9, 2023. [pdf]

6. W. J. Elke*, J. Pei, C. M. Roithmayr and R. J. Caverly "Framework for Analyzing the Complex Interactions Between Spacecraft Motion and Slosh Dynamics in Log-G Environments," International Astronautical Congress, Paris, France, September 18-22, 2022. [pdf]

5. A. D. Hayes*, R. J. Caverly, and D. Gebre-Egziabher "Atmospheric Density Estimation in Low-Earth Orbit for Drag-Modulated Spacecraft," AAS Guidance, Navigation and Control Conference, Breckenridge, CO, February 4-9, 2022. [pdf]

4. R. D. Halverson*, A Weiss and R. J. Caverly "Station Keeping of Satellites in Areostationary Mars Orbit using Model Predictive Control," AAS/AIAA Space Flight Mechanics Meeting, Virtual Event, February 1-4, 2021, AAS 21-358. [pdf]

3. A. Hayes*, I. Nompelis, R. J. Caverly, J. Mueller, and D. Gebre-Egziabher "Dynamic Stability Analysis of a Hypersonic Entry Vehicle with a Non-Linear Aerodynamic Model," Modeling and Simulation Technologies Conference, AIAA AVIATION, Reno, NV, June 15-19, 2020, p. 3201. [pdf]

2.  R. D. Halverson* and R. J. Caverly "Attitude Control of a Spacecraft Flexible Appendage using Parallel Feedforward Control," AIAA/AAS Space Flight Mechanics Meeting, AIAA SciTech Forum, Orlando, FL, Jan. 6-10, 2019, p. 716. [pdf]

1.  R. J. Caverly*, S. Di Cairano and A. Weiss "Control Allocation and Quantization of a GEO Satellite with 4DOF Gimbaled Thrusters," AIAA/AAS Space Flight Mechanics Meeting, AIAA SciTech Forum, Orlando, FL, Jan. 6-10, 2019,p. 1687. [pdf]