Chris Manzie

Control Barrier Functions for Mechanical Systems: Theory and Application to Robotic Grasping

Wenceslao Shaw Cortez, Denny Oetomo, Chris Manzie, Peter Choong

Journal article  |  2021  |  IEEE Transactions on Control Systems Technology

Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of con..

Personalized Online Adaptation of Kinematic Synergies for Human-Prosthesis Interfaces.

Ricardo Garcia-Rosas, Ying Tan, Denny Oetomo, Chris Manzie, Peter Choong

Journal article  |  2021  |  IEEE Transactions on Cybernetics

Synergies have been adopted in prosthetic limb applications to reduce the complexity of design, but typically involve a single syn..

Control of an isolated microgrid using hierarchical economic model predictive control

WC Clarke, MJ Brear, C Manzie

Journal article  |  2020  |  Applied Energy

This article experimentally demonstrates a novel, microgrid control algorithm based on a two-layer economic model predictive contr..

Task-space Synergies for Reaching using Upper-limb Prostheses.

Ricardo Garcia-Rosas, Denny Oetomo, Chris Manzie, Ying Tan, Peter Choong

Journal article  |  2020  |  IEEE Transactions on Neural Systems and Rehabilitation Engineering

Synergistic prostheses enable the coordinated movement of the human-prosthetic arm, as required by activities of daily living. Thi..

Collision Avoidance Based on Robust Lexicographic Task Assignment

Tony A Wood, Mitchell Khoo, Elad Michael, Chris Manzie, Iman Shames

Journal article  |  2020  |  IEEE Robotics and Automation Letters

Traditional task assignment approaches for multi-agent motion control do not take the possibility of collisions into account. This..

Error-Bounded Reference Tracking MPC for Machines with Structural Flexibility

Meng Yuan, Chris Manzie, Malcolm Good, Iman Shames, Lu Gan, Farzad Keynejad, Troy Robinette

Journal article  |  2020  |  IEEE Transactions on Industrial Electronics

For industrial contouring and machining applications such as laser cutting, it is desirable to be able to bound errors without und..

Robustness analysis of nonlinear observers for the slow variables of singularly perturbed systems

L Cuevas, D Nešić, C Manzie

Journal article  |  2020  |  International Journal of Robust and Nonlinear Control

Estimation of unmeasured variables is a crucial objective in a broad range of applications. However, the estimation process turns ..

A review of industrial tracking control algorithms

M Yuan, C Manzie, M Good, I Shames, L Gan, F Keynejad, T Robinette

Journal article  |  2020  |  Control Engineering Practice

Advanced manufacturing is characterised by machines that move an end effector through a given trajectory to perform operations suc..

Global Sensitivity Analysis for the Linear Assignment Problem

E Michael, TA Wood, C Manzie, I Shames

Conference Proceedings  |  2020  |  2020 American Control Conference (ACC)

In this paper, the following question is addressed: given a linear assignment problem, how much can the all of the individual assi..

Fast Calibration of a Robust Model Predictive Controller for Diesel Engine Airpath

GS Sankar, RC Shekhar, C Manzie, T Sano, H Nakada

Journal article  |  2020  |  IEEE Transactions on Control Systems Technology

A significant challenge in the development of control systems for diesel airpath applications is to tune the controller parameters..