J
John T. Wen
Researcher at Rensselaer Polytechnic Institute
Publications - 384
Citations - 11422
John T. Wen is an academic researcher from Rensselaer Polytechnic Institute. The author has contributed to research in topics: Control theory & Adaptive control. The author has an hindex of 52, co-authored 363 publications receiving 10660 citations. Previous affiliations of John T. Wen include Brigham Young University & Electro Scientific Industries, Inc..
Papers
More filters
Journal ArticleDOI
The attitude control problem
TL;DR: In this article, a general framework for the analysis of the attitude tracking control problem for a rigid body is presented and a large family of globally stable control laws are obtained by using the globally nonsingular unit quaternion representation in a Lyapunov function candidate whose form is motivated by the consideration of the total energy of the rigid body.
Journal ArticleDOI
Galerkin approximations of the generalized Hamilton-Jacobi-Bellman equation
TL;DR: This paper states sufficient conditions that guarantee that the Galerkin approximation converges to the solution of the GHJB equation and that the resulting approximate control is stabilizing on the same region as the initial control.
Journal ArticleDOI
Attitude control without angular velocity measurement: a passivity approach
Fernando Lizarralde,John T. Wen +1 more
TL;DR: This note shows that the angular velocity feedback can be replaced by a nonlinear filter of the quaternion, thus removing the need for direct angular velocity measurement, and exploits the inherent passivity of the system.
Journal ArticleDOI
Robust attitude stabilization of spacecraft using nonlinear quaternion feedback
TL;DR: A nonlinear control law which uses the feedback of the unit quaternion and the measured angular velocities is proposed and is shown to provide global asymptotic stability.
Journal ArticleDOI
New class of control laws for robotic manipulators Part 1. Non–adaptive case
John T. Wen,David S. Bayard +1 more
TL;DR: In this paper, a new class of exponentially stabilizing control laws for joint level control of robot arms is introduced, based on the non-linear dynamics associated with robotic manipulations.