Nonlinear and Adaptive Control

A hallmark pillar of the CHARS Laboratory is the study of nonlinear and adaptive control. Using Lyapunov and passivity based approaches allows for the control of nonlinear, uncertain, and time-varying systems. Moreover, the Lab is capable of addressing systems which exhibit discontinuous dynamical behavior (as in switched systems) and systems which may have competing control objectives (as in human-robot interaction). 

Human-Robot Interaction

A primary focus of the CHARS Laboratory is the control of human-robot interaction. Often these systems have competing, or conflicting, tracking objectives and require auxiliary analysis to illustrate stability. 

Switched and Hybrid Systems

The CHARS Laboratory specializes in the control of switched and discontinuous dynamic systems. These systems can have attributes including uncontrollable and unobservable modes and require a switching analysis to prove stability.