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Professor Caverly's research interests include the dynamic modeling and control of aerospace, mechanical, and robotics systems. In particular, he is interested in theoretical developments related to input-output stability, as well as optimal and robust control of linear and nonlinear systems. His applied research focuses on accurate, yet computationally-efficient, dynamic modeling of systems with structural flexibility, such as flexible aircraft, spacecraft, and robotic manipulators, as well as the use of new and existing theory to control these systems.

Education

Ph.D., Aerospace Engineering, University of Michigan, 2018

M.S., Aerospace Engineering, University of Michigan, 2015

B.E., Honours Mechanical Engineering, McGill University, 2013

Research Lab

Professional Background

Assistant Professor, University of Minnesota, 2018-Present

Graduate Student Research Assistant, University of Michigan, 2014-2018

Mechatronics Engineering Intern, Mitsubishi Electric Research Laboratories, 2017

Research Assistant, McGill University, 2011-2013

Scientific & Professional Societies

Teaching Subjects

• AEM 2012 -- Dynamics
• AEM 4305 -- Spacecraft Dynamics
• AEM 8423 -- Convex Optimization Methods in Control

Honors and Awards

NASA Early Career Faculty Award, 2022

Department of Defense DEPSCoR Award, 2021

Best Presentation in Session at the American Control Conference, 2015 & 2016

2nd Place in the ASNE Day Graduate Student Poster Competition, 2015

NSERC Postgraduate Scholarship - Masters & Doctoral, 2013 & 2015

FQRNT Masters Research Scholarship, 2014

Best Paper in the AIAA Modeling and Simulation Technologies Conference, 2013

Selected Publications

R. J. Caverly and J. R. Forbes "LMI Properties and Applications in Systems, Stability, and Control Theory," Version 3 preprint, https://arxiv.org/pdf/1903.08599.pdf

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 Approach with Input-Output Sampling," IEEE Control Systems Letters, Vol. 7, pp. 931-936, 2023. https://doi.org/10.1109/LCSYS.2022.3229004

A. Hayes and R. J. Caverly "Model Predictive Tracking of Spacecraft Deorbit Trajectories Using Drag Modulation," Acta Astronautica, Vol. 202, pp. 670-685, 2023. https://doi.org/10.1016/j.actaastro.2022.10.057

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. https://doi.org/10.1115/1.4056025

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. https://www.sciencedirect.com/science/article/abs/pii/S0967066121001118

V. L. Nguyen and R. J. Caverly "Cable-Driven Parallel Robot Post Estimation using Extended Kalman Filtering with Inertial Payload Measurements," IEEE Robotics and Automation Letters, Vol. 6, No. 2, pp. 3615-3622, 2021. Lhttps://ieeexplore.ieee.org/document/9372787

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, Vo. 29, No. 4, pp. 1475-1489, 2021.  https://ieeexplore.ieee.org/document/9170876

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