Ph.D., Aerospace Engineering, University of Michigan, 2018
M.S., Aerospace Engineering, University of Michigan, 2015
B.E., Honours Mechanical Engineering, McGill University, 2013
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
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.
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
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