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Research Output 2003 2020

2020

On linear quadratic optimal control for time-varying multimodal linear systems with time-triggered jumps

de Carolis, G. & Saccon, A., 1 Jan 2020, In : IEEE Control Systems Letters. 4, 1, p. 217-222 6 p., 8738826

Research output: Contribution to journalArticleAcademicpeer-review

Riccati equations
Linear systems
Time-varying
Optimal Control
Jump
2019

Design of a polishing tool for collaborative robotics using minimum viable product approach

Perez-Vidal, C., Gracia, L., Sanchez-Caballero, S., Solanes, J. E., Saccon, A. & Tornero, J., 8 Jul 2019, In : International Journal of Computer Integrated Manufacturing. 32, 9, p. 848-857

Research output: Contribution to journalArticleAcademicpeer-review

Polishing
Robotics
Robots
Force control
Position control
2018
3 Citations (Scopus)

Direct force-reflecting two-layer approach for passive bilateral teleoperation with time delays

Heck, D., Saccon, A., Beerens, R. & Nijmeijer, H., 1 Feb 2018, In : IEEE Transactions on Robotics. 34, 1, p. 194-206 13 p., 8268547

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Remote control
Time delay
Controllers
Communication
Damping

Enabling motions with impacts in robotic and mechatronic systems

Rijnen, M. W. L. M., 26 Nov 2018, Eindhoven: Technische Universiteit Eindhoven. 210 p.

Research output: ThesisPhd Thesis 1 (Research TU/e / Graduation TU/e)Academic

Open Access
File
Mechatronics
Robotics
1 Citation (Scopus)

Motion signals with velocity jumps: velocity estimation employing only quantized position data

Rijnen, M., Saccon, A. & Nijmeijer, H., 1 Jul 2018, In : IEEE Robotics and Automation Letters. 3, 3, p. 1498-1505 8 p.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Jump
Motion
Trajectory Tracking
Encoder
Dynamic Systems
2017
3 Citations (Scopus)

Constrained optimal motion planning for autonomous vehicles using PRONTO

Aguiar, A. P., Bayer, F. A., Hauser, J., Häusler, A. J., Notarstefano, G., Pascoal, A. M., Rucco, A. & Saccon, A., 2017, Sensing and Control for Autonomous Vehicles - Applications to Land, Water and Air Vehicles. Springer, p. 207-226 20 p. (Lecture Notes in Control and Information Sciences; vol. 474)

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

planning
endurance
energy
time
1 Citation (Scopus)

Control of humanoid robot motions with impacts: numerical experiments with reference spreading control

Rijnen, M. W. L. M., de Mooij, E. B. C., Traversaro, S., Nori, F., van de Wouw, N., Saccon, A. & Nijmeijer, H., 21 Jul 2017, ICRA 2017 - IEEE International Conference on Robotics and Automation, 29 May - 3 June 2017, Singapore. Piscataway: Institute of Electrical and Electronics Engineers, p. 4102-4107 6 p. 7989472

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Robots
Experiments
Stabilization
Controllers
2 Citations (Scopus)

On centroidal dynamics and integrability of average angular velocity

Saccon, A., Traversaro, S., Nori, F. & Nijmeijer, H., 2017, In : IEEE Robotics and Automation Letters. 2, 2, p. 943-950

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Angular velocity
Mechanics
Robotics
Kinematics
Robots
2016

Computing laser beam paths in optical cavities: an approach based on geometric Newton method

Cuccato, D., Saccon, A., Ortolan, A. & Beghi, A., Oct 2016, In : Journal of Optimization Theory and Applications. 171, 1, p. 297-315 19 p.

Research output: Contribution to journalArticleAcademicpeer-review

25 Citations (Scopus)

Energy-optimal motion planning for multiple robotic vehicles with collision avoidance

Häusler, A. J., Saccon, A., Aguiar, A. P., Hauser, J. & Pascoal, A. M., 1 May 2016, In : IEEE Transactions on Control Systems Technology. 24, 3, p. 867-883 17 p., 7308015

Research output: Contribution to journalArticleAcademicpeer-review

Collision avoidance
Motion planning
Robotics
Trajectories
Joining
19 Citations (Scopus)

Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment

Heck, D. J. F., Saccon, A., van de Wouw, N. & Nijmeijer, H., Jan 2016, In : Automatica. 63, p. 235-247

Research output: Contribution to journalArticleAcademicpeer-review

Manipulators
Trajectories
Robots
Controllers
End effectors
2 Citations (Scopus)

Hybrid trajectory tracking for a hopping robotic leg

Rijnen, M. W. L. M., van Rijn, A. T., Dallali, H., Saccon, A. & Nijmeijer, H., 2016, In : IFAC-PapersOnLine. 49, 14, p. 107-112 6 p.

Research output: Contribution to journalConference articleAcademicpeer-review

Open Access
Hybrid systems
Robotics
Trajectories
Robots
Chemical activation

Multibody dynamics notation

Traversaro, S. & Saccon, A., 4 Jul 2016, Technische Universiteit Eindhoven. 22 p.

Research output: Book/ReportReportAcademic

Open Access
File
5 Citations (Scopus)

Second-order-optimal minimum-energy filters on Lie groups

Saccon, A., Trumpf, J., Mahony, R. & Pedro Aguiar, A., Oct 2016, In : IEEE Transactions on Automatic Control. 61, 10, p. 2906-2919

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File

The impact of resonator geometry on RLG performances

Cuccato, D., Ortolan, A., Beghi, A. & Saccon, A., 10 Oct 2016, 2016 IEEE Conference on Control Applications, CCA 2016, 19-22 September 2016, Buenos Aires, Argentina. Piscataway: Institute of Electrical and Electronics Engineers, Vol. 2, p. 1007-1011 5 p. 7587945

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Ring lasers
Gyroscope
Gyroscopes
Resonator
Ring Resonator
2015

A novel four-quadrant propeller model

Haeusler, A. J., Saccon, A., Hauser, J., Pascoal, A. M. & Aguiar, A. P., 2015, Proceedings of the Fourth International Symposium on Marine Propulsors (smp15), 31 May - 4 June 2015, Austin, Texas.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)

A two-layer architecture for force-reflecting bilateral teleoperation with time delays

Heck, D. J. F., Saccon, A. & Nijmeijer, H., 2015, 2015 IEEE 54th Annual Conference on Decision and Control (CDC), December 15-18, 2015. Osaka, Japan. Piscataway: Institute of Electrical and Electronics Engineers, p. 1509-1514 6 p. 7402424

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Remote control
Time delay
Controllers
Damping
Stiffness

Delayed bilateral teleoperation : a direct force-reflecting control approach

Heck, D. J. F., 2015, Eindhoven: Technische Universiteit Eindhoven. 144 p.

Research output: ThesisPhd Thesis 1 (Research TU/e / Graduation TU/e)Academic

Open Access
File
5 Citations (Scopus)

On optimal trajectory tracking for mechanical systems with unilateral constraints

Rijnen, M., Saccon, A. & Nijmeijer, H., 2015, 54th IEEE Conference on Decision and Control (CDC 2015), December 15-18, 2015. Osaka, Japan. Piscataway: Institute of Electrical and Electronics Engineers, p. 2561-2566 6 p. 7402602

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Trajectories
Feedback
Hybrid systems
Feedback control
Controllers
7 Citations (Scopus)

Switched position-force tracking control of a manipulator interacting with a stiff environment

Heck, D. J. F., Saccon, A., van de Wouw, N. & Nijmeijer, H., 2015, Proceedings of the 2015 American Control Conference, 1-3 July 2015, Chicago, Illinois. Piscataway: Institute of Electrical and Electronics Engineers, p. 4832-4837

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Manipulators
Controllers
End effectors
Closed loop systems
Damping

Teleoperated and cooperative robotics : a performance oriented control design

Denasi, A., 20 Jan 2015, Eindhoven: Technische Universiteit Eindhoven. 190 p.

Research output: ThesisPhd Thesis 1 (Research TU/e / Graduation TU/e)Academic

Open Access
File
5 Citations (Scopus)

Trajectory tracking of mechanical systems with unilateral constraints : experimental results of a recently introduced hybrid PD feedback controller

Incremona, G. P., Saccon, A., Ferrara, A. & Nijmeijer, H., 2015, 2015 IEEE 54th Annual Conference on Decision and Control (CDC), December 15-18, 2015. Osaka, Japan. Piscataway: Institute of Electrical and Electronics Engineers, p. 920-925 6 p. 7402346

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Trajectories
Feedback
Controllers
Robotic arms
Hybrid systems
2014
7 Citations (Scopus)

A variational integrators approach to second order modeling and identification of linear mechanical systems

Bruschetta, M., Saccon, A. & Picci, G., 2014, In : Automatica. 50, 3, p. 727-736 10 p.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Linear transformations
Equations of motion

Control and identification of bipedal humanoid robots : stability analysis and experiments

Zutven, van, P. W. M., 2014, Eindhoven: Technische Universiteit Eindhoven. 166 p.

Research output: ThesisPhd Thesis 1 (Research TU/e / Graduation TU/e)Academic

Open Access
File
16 Citations (Scopus)

Sensitivity analysis of hybrid systems with state jumps with application to trajectory tracking

Saccon, A., van de Wouw, N. & Nijmeijer, H., 2014, Proceedings of the 53rd IEEE Conference on Decision and Control, December 15-17, 2014, Los Angeles, CA, USA.. Piscataway: Institute of Electrical and Electronics Engineers, p. 3065-3070 6 p.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Hybrid systems
Sensitivity analysis
Trajectories
Nonlinear systems
Feedback
1 Citation (Scopus)

Virtual Rider Design : optimal manoeuvre definition and tracking

Saccon, A., Hauser, J. & Beghi, A., 2014, Modelling, simulation and control of two-wheeled vehicles. Tanelli, M., Corno, M. & Savaresi, S. (eds.). Hoboken: Wiley, p. 83-118

Research output: Chapter in Book/Report/Conference proceedingChapterAcademic

Motorcycles
Trajectories
Nonlinear control systems
Controllers
Deceleration
2013
19 Citations (Scopus)

A virtual rider for motorcycles : maneuver regulation of a multi-body vehicle model

Saccon, A., Hauser, J. & Beghi, A., 2013, In : IEEE Transactions on Control Systems Technology. 21, 2, p. 332-346 15 p.

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Motorcycles
Nonlinear feedback
Controllers
Ground vehicles
Point contacts
9 Citations (Scopus)

Cooperative AUV motion planning using terrain information

Haeusler, A. J., Saccon, A., Hauser, J., Pascoal, A. M. & Aguiar, A. P., 2013, Proceedings of the MTS/IEEE Conference OCEANS'13, 10-13 June 2013, Bergen, Norway. Piscataway: Institute of Electrical and Electronics Engineers, p. 1-10

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Motion planning
Navigation systems
Navigation
Collision avoidance
Acoustics

Covariant differentiation of a map in the context of geometric optimal control

Saccon, A., Hauser, J. & Aguiar, A. P., 2013, Proceedings of the 9th IFAC Symposium on Nonlinear Control Systems (NOLCOS), 4-6 September 2013, Toulouse, France. Oxford: Pergamon, p. 5637-5632

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Four-Quadrant Propeller Modeling : a low-order harmonic approximation

Haeusler, A. J., Saccon, A., Hauser, J., Pascoal, A. M. & Aguiar, A. P., 2013, Proceedings of the 9th IFAC Conference on Control Applications in Marine Systems (CAMS), 17-20 September 2013, Osaka, Japan.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Propellers
Torque
Motion planning
Drag
Water
28 Citations (Scopus)

Optimal control on lie groups : the projection operator approach

Saccon, A., Hauser, J. & Aguiar, A. P., 2013, In : IEEE Transactions on Automatic Control. 58, 9, p. 2230-2245 16 p.

Research output: Contribution to journalArticleAcademicpeer-review

Lie groups
Riccati equations
Vector spaces
Mathematical operators
Nonlinear systems
6 Citations (Scopus)

Second-order-optimal filters on Lie groups

Saccon, A., Trumpf, J., Mahony, R. & Aguiar, A. P., 2013, Proceedings of the 52nd IEEE Conference on Decision and Control (CDC), December 10-13, 2013, Florence, Italy. Pisacataway: Institute of Electrical and Electronics Engineers, p. 4434-4441

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Optimal Filter
Filter
Affine Connection
Matrix Differential Equation
Riccati Differential Equation
2012
1 Citation (Scopus)

A numerical test of long-time stability for rigid body integrators

Ortolan, G. & Saccon, A., 2012, In : International Journal for Numerical Methods in Engineering. 90, 3, p. 390-402

Research output: Contribution to journalArticleAcademicpeer-review

Open Access
File
Hamiltonians
Rigid Body
Necessary Conditions
Simulation
Context
6 Citations (Scopus)

Constrained motion planning for multiple vehicles on SE(3)

Saccon, A., Aguiar, A. P., Haeusler, A. J., Hauser, J. & Pascoal, A. M., 2012, Proceedings of the 51st IEEE Conference on Decision and Control (CDC 2012), 10-13 December 2012, Maui, Hawaii. Piscataway: Institute of Electrical and Electronics Engineers, p. 5637-5642

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Lie groups
Motion planning
Collision avoidance
Computational methods
Mathematical operators
13 Citations (Scopus)

Trajectory exploration of a rigid motorcycle model

Saccon, A., Hauser, J. & Beghi, A., 2012, In : IEEE Transactions on Control Systems Technology. 20, 2, p. 424-437 14 p.

Research output: Contribution to journalArticleAcademicpeer-review

Motorcycles
Trajectories
Mathematical operators
2011
10 Citations (Scopus)

Lie group projection operator approach: optimal control on TSO(3)

Saccon, A., Aguiar, A. P. & Hauser, J., 2011, Proceedings of 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC), 12-15 December 2011, Orlando, Florida. Piscataway: Institute of Electrical and Electronics Engineers, p. 6973-6978

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Projection Operator
Optimal Control Problem
Optimal Control
Time-optimal Control
Tangent Bundle

On optimal infinite-time regulation on SO(3)

Saccon, A., 2011, Textos de Matematica, in honour of Fátima Leite. Cardoso, J., Hueper, K. & Saraiva, P. (eds.). Coimbra: University of Coimbra

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

5 Citations (Scopus)

Optimal control on Lie groups : implementations details of the projection operator approach

Saccon, A., Hauser, A. R. & Aguiar, A. P., 2011, Optimal Control on Lie Groups: Implementations Details of the Projection Operator Approach World Congress. IFAC, Vol. 18, part 1, p. 14567-14572

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Projection Operator
Optimal Control
Trajectory
Converge
Linear Quadratic Problem
2010
7 Citations (Scopus)

Exploration of kinematic optimal control on the lie group S0(3)

Saccon, A., Hauser, J. & Pedro Aguiar, A., 2010, 8th IFAC Symposium on Nonlinear Control Systems, 1-3 September 2010, Bologna, Italy. Amsterdam: Elsevier, p. 1302-1307 6 p. (IFAC Proceedings Volumes (IFAC-PapersOnline); vol. 43, no. 14)

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Weighting
Kinematics
Optimal Control
Value Function
Jacobi Equation

How to sample linear mechanical systems

Bruschetta, M., Picci, G. & Saccon, A., 2010, Perspectives in Mathematical System Theory, Control, and Signal Processing : A Festschrift in Honor of Yutaka Yamamoto on the Occasion of his 60th Birthday. Willems, J. C., Hara, S., Ohta, Y. & Fujioka, H. (eds.). Berlin: Springer, Vol. VII, p. 343-353 (Lecture Notes in Control and Information Sciences; vol. 398)

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

7 Citations (Scopus)

Optimal control on non-compact Lie groups : a projection operator approach

Saccon, A., Hauser, J. & Aguiar, A. P., 2010, Proceedings of the 49th IEEE Conference on Decision and Control (CDC), 15-17 December 2010, Atlanta, Georgia. Piscataway: Institute of Electrical and Electronics Engineers, p. 7111-7116

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Projection Operator
Optimal Control
Underwater Vehicle
Mechanical Systems
Quantum Systems
2009
6 Citations (Scopus)

An efficient Newton method for general motorcycle kinematics

Saccon, A. & Hauser, J., Feb 2009, In : Vehicle System Dynamics : International Journal of Vehicle Mechanics and Mobility. 47, 2, p. 221-241 21 p.

Research output: Contribution to journalArticleAcademicpeer-review

Motorcycles
Newton-Raphson method
Kinematics
Nonlinear equations
Tires
8 Citations (Scopus)

Midpoint rule for variational integrators on Lie groups

Saccon, A., 11 Jun 2009, In : International Journal for Numerical Methods in Engineering. 78, 11, p. 1345-1364

Research output: Contribution to journalArticleAcademicpeer-review

2008
21 Citations (Scopus)

A virtual rider for motorcycles : an approach based on optimal control and maneuver regulation

Saccon, A., Hauser, J. & Beghi, A., 2008, 2008 3rd International Symposium on Communications, Control, and Signal Processing, ISCCSP 2008, 12-14 March 2008, St. Julians, Malta. Piscataway: Institute of Electrical and Electronics Engineers, p. 243-248 6 p. (2008 3rd International Symposium on Communications, Control, and Signal Processing, ISCCSP 2008)

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Motorcycles
Trajectories
Controllers
2006
44 Citations (Scopus)

A barrier function method for the optimization of trajectory functionals with constraints

Hauser, J. & Saccon, A., 2006, Proceedings of the 45th IEEE Conference on Decision and Control, 13-15 December 2006, San Diego, California. Piscataway: Institute of Electrical and Electronics Engineers, p. 864-869 6 p.

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Trajectories
Convex optimization
Newton-Raphson method
28 Citations (Scopus)

Motorcycle modeling for high performance maneuvering : maximum velocity profile estimation

Hauser, J. & Saccon, A., Oct 2006, In : IEEE Control Systems Magazine. 26, 5, p. 89-105

Research output: Contribution to journalArticleAcademicpeer-review

2005
20 Citations (Scopus)

On the driven inverted pendulum

Hauser, J., Saccon, A. & Frezza, R., 2005, Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05, 12-15 December 2005, Seville, Spain . Piscataway: Institute of Electrical and Electronics Engineers, p. 6176-6180 5 p. WeIC18.3. (Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05; vol. 2005)

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Pendulums
Trajectories
Motorcycles
Bicycles
Low pass filters
2004
12 Citations (Scopus)

Achievable motorcycle trajectories

Hauser, J., Saccon, A. & Frezza, R., 2004, 43rd IEEE Conference on Decision and Control, 2004. CDC, 14-17 December 2004, Nassau, Bahamas . Piscataway: Institute of Electrical and Electronics Engineers, p. 3944-3949 ThC09.1. ("Decision and Control, 2004. CDC. 43rd IEEE Conference on"; vol. 4)

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Motorcycles
3 Citations (Scopus)

Smart driver: a research project for closed loop vehicle simulation in MSC.ADAMS

Frezza, R., Saccon, A., Minen, D. & Ortmann, C., 2004, Multi-body Dynamics: Monitoring and Simulation Techniques III. Rahnejat, H. & Rothberg, S. (eds.). Professional Engineering Publishing, Vol. Compendex, 13 p.

Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

Railroad cars
Planning
Railroad tracks
Motion control
Simulators
2003
7 Citations (Scopus)

SmartDriver : a sensor based model of a car driver for virtual product development

Frezza, R., Saccon, A. & Bacchet, D., 2003, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings, 20-24 July 2003. Piscataway: Institute of Electrical and Electronics Engineers, p. 366-370 5 p. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; vol. 1)

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

Product development
Railroad cars
Sensors
Planning
Motion control