M.S. de Queiroz

Louisiana State University, Baton Rouge, Louisiana, United States

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Publications (124)118.79 Total impact

  • Xiaoyu Cai, Marcio De Queiroz
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    ABSTRACT: In this brief, we introduce a graph rigidity-based, adaptive formation control law for multiple robotic vehicles moving on the plane that explicitly accounts for the vehicle dynamics while allowing for parametric uncertainty. We consider a class of vehicles modeled by Euler-Lagrange-like equations of motion. The control is designed via backstepping, and exploits rigid graph theory and the structural properties of the system dynamics. A Lyapunov analysis shows that the desired formation is acquired asymptotically. A five-vehicle simulation is used to illustrate the proposed formation acquisition control.
    IEEE Transactions on Control Systems Technology 01/2015; 23(1):389-396. DOI:10.1109/TCST.2014.2321664 · 2.52 Impact Factor
  • Xiaoyu Cai, Marcio de Queiroz
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    ABSTRACT: In this paper, we introduce control laws for multi-agent formation maneuvering and target interception problems. In the target interception problem, we consider that the target velocity is unknown. Using a single-integrator agent model, the proposed controls consist of a formation acquisition term, dependent on the graph rigidity matrix, and a formation maneuvering or target interception term. The control laws are only a function of the relative position of agents in an infinitesimally and minimally rigid graph, and either the desired maneuvering velocity of the formation or the target's relative position to the leader. The target interception control includes a continuous dynamic estimation term to identify the unknown target velocity. A Lyapunov-like stability analysis is used to prove that the control objectives are met.
    Asian Journal of Control 10/2014; DOI:10.1002/asjc.1044 · 1.41 Impact Factor
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    ABSTRACT: We announce a new tracking controller for neuromuscular electrical stimulation, which is an emerging technology that artificially stimulates skeletal muscles to help restore functionality to human limbs. The novelty of our work is that we prove that the tracking error globally asymptotically and locally exponentially converges to zero for any positive input delay, coupled with our ability to satisfy a state constraint imposed by the physical system. Also, our controller only requires sampled measurements of the states instead of continuous measurements, and allows perturbed sampling schedules, which can be important for practical purposes. Our work is based on a new method for constructing predictor maps for a large class of time-varying systems, which is of independent interest.
    2014 American Control Conference - ACC 2014; 06/2014
  • Xiaoyu Cai, Marcio de Queiroz
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    ABSTRACT: We formulate a graph rigidity-based, adaptive formation control law for multiple robotic vehicles moving on the plane that explicitly accounts for the vehicle dynamics while allowing for parametric uncertainty. We consider a class of underactuated vehicles modeled by Euler-Lagrange-like equations of motion. The control is designed via backstepping while exploiting the structural properties of the system dynamics. A Lyapunov-like analysis shows that the desired formation is acquired asymptotically.
    2014 American Control Conference - ACC 2014; 06/2014
  • Xiaoyu Cai, Marcio de Queiroz
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    ABSTRACT: This paper introduces distance-based control laws for the multi-agent formation maneuvering and target interception problems using a double-integrator agent model and rigid graph theory. The proposed controls consist of a formation acquisition term, dependent on the graph rigidity matrix, and a formation maneuvering or target interception term. The control laws are only a function of the relative position/velocity of agents in an infinitesimally and minimally rigid graph, the agent's own velocity, and either the desired velocity of the formation or the target's relative position to the leader and velocity. The target interception control includes a variable structure-type term to compensate for the unknown target acceleration. A Lyapunov-based stability analysis is used to prove that the control objectives are met.
    2014 American Control Conference - ACC 2014; 06/2014
  • Saba Ramazani, Rastko Selmic, Marcio de Queiroz
    IEEE International Conference on Systems, Man, and Cybernetics (SMC); 01/2014
  • Source
    [Show abstract] [Hide abstract]
    ABSTRACT: A new hybrid tracking controller for neuromuscular electrical stimulation is proposed. The control scheme uses sampled measurements and is designed by utilizing a numerical prediction of the state variables. The tracking error of the closed-loop system converges exponentially to zero and robustness to perturbations of the sampling schedule is exhibited. One of the novelties of our approach is the ability to satisfy a state constraint imposed by the physical system.
    International Journal of Robust and Nonlinear Control 10/2013; DOI:10.1002/rnc.3211 · 2.65 Impact Factor
  • Marcio de Queiroz
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    ABSTRACT: Fluid-film bearings can suffer from flow-induced instabilities known as ‘whirl’ and ‘whip,’ especially when supporting lightly-loaded shafts. This phenomenon can lead to large rotor (self-excited) vibrations, which eventually result in rotor-bearing failure. In this paper, we introduce a new active hydrodynamic bearing to mitigate such vibrations in lightly loaded rotating machines. The system contains a rotating bushing, actuated by a motor, that serves as the control input. This input is used to control the mean flow velocity in the bearing and thereby the journal vibration. A simple feedback control law is proposed for the bushing velocity, and numerical simulations are presented to evaluate the active bearing.
    Journal of Vibration and Control 10/2013; 19(14):2211-2222. DOI:10.1177/1077546312458945 · 4.36 Impact Factor
  • Xiaoyu Cai, Marcio de Queiroz
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    ABSTRACT: In this paper, we introduce distance-based control laws for the multi-agent formation maintenance and target tracking problems. Using a single-integrator agent model, the proposed controls consist of a formation acquisition term, dependent on the potential function and graph rigidity matrix, and a formation maintenance or target tracking term. The control laws are only a function of the relative position of agents in an infinitesimally and minimally rigid graph, and either the desired velocity of the formation or the target's relative position to the leader and absolute velocity. A Lyapunov analysis shows that the origin of the distance error dynamics is locally exponentially stable, and, as a consequence, formation maintenance or target tracking can be readily proven.
    American Control Conference (ACC), 2013; 06/2013
  • Xiaoyu Cai, Marcio de Queiroz
    Journal of Dynamic Systems Measurement and Control 01/2013; 136(1):014502. DOI:10.1115/1.4025242 · 1.04 Impact Factor
  • Xiaoyu Cai, Marcio de Queiroz
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    ABSTRACT: This paper is concerned with the decentralized formation control of multi-agent systems moving in the plane. Using a single-integrator agent model, we propose a new distributed control law to asymptotically stabilize the inter-agent distance error dynamics. Our approach exploits the infinitesimal and minimal rigidity of the undirected graph that models the formation. A Lyapunov-based analysis shows that these two properties are necessary conditions for asymtptotic stability. The control, which is explicitly dependent on the graph rigidity matrix, is derived for a class of potential functions.
    ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference; 10/2012
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    ABSTRACT: Acetyl-CoA carboxylase catalyses the first committed step in fatty acid synthesis in all organisms. The chemistry is accomplished in two half-reactions: activation of biotin via carboxylation by biotin carboxylase, followed by the carboxyltransferase-catalysed transfer of the carboxyl moiety from carboxybiotin to acetyl-CoA to generate malonyl-CoA. The Escherichia coli form of the carboxyltransferase subunit was recently found to regulate its own activity and expression by binding its own mRNA. By binding acetyl-CoA or the mRNA encoding its own subunits, carboxyltransferase is able to sense the metabolic state of the cell and attenuate its own translation and enzymatic activity using a negative feedback mechanism. Here, the network of these interactions is modelled mathematically with a set of non-linear differential equations. Numerical simulations of the model show that it qualitatively and quantitatively agrees with the experimental results for both inhibition of carboxyltransferase by mRNA and attenuation of translation. The modelling of the autoregulatory function of carboxyltransferase confirms that it is more than isolated interactions, but functions as a single dynamic system.
    IET Systems Biology 05/2011; 5(3):220-8. DOI:10.1049/iet-syb.2010.0071 · 1.67 Impact Factor
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    ABSTRACT: The enzyme biotin carboxylase (BC) uses adenosine triphosphate (ATP) to carboxylate biotin and is involved in fatty acid synthesis. Structural evidence suggests that the B domain of BC undergoes a large hinge motion of ∼45° when binding and releasing substrates. Escherichia coli BC can function as a natural homodimer and as a mutant monomer. Using molecular dynamics simulations, we evaluate the free energy profile along a closure angle of the B domain of E. coli BC for three cases: a monomer without bound Mg(2)ATP, a monomer with bound Mg(2)ATP, and a homodimer with bound Mg(2)ATP in one subunit. The simulation results show that a closed state is the most probable for the monomer with or without bound Mg(2)ATP. For the dimer with Mg(2)ATP in one of its subunits, communication between the two subunits was observed. Specifically, in the dimer, the opening of the subunit without Mg(2)ATP caused the other subunit to open, and hysteresis was observed upon reclosing it. The most stable state of the dimer is one in which the B domain of both subunits is closed; however, the open state for the B domain without Mg(2)ATP is only approximately 2k(B)T higher in free energy than the closed state. A simple diffusion model indicates that the mean times for opening and closing of the B domain in the monomer with and without Mg(2)ATP are much smaller than the overall reaction time, which is on the order of seconds.
    Proteins Structure Function and Bioinformatics 02/2011; 79(2):622-32. DOI:10.1002/prot.22910 · 2.92 Impact Factor
  • Frédéric Mazenc, Michael Malisoff, Marcio de Queiroz
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    ABSTRACT: We study adaptive tracking problems for nonlinear systems with unknown control gains. We construct controllers that yield uniform global asymptotic stability for the error dynamics, and hence tracking and parameter estimation for the original systems. Our result is based on a new explicit, global, strict Lyapunov function construction. We illustrate our work using a brushless DC motor turning a mechanical load. We quantify the effects of time-varying uncertainties on the motor electric parameters.
    Fuel and Energy Abstracts 02/2011; 74(4):1132-1145. DOI:10.1016/j.na.2010.09.048
  • Source
    Frederic Mazenc, Michael Malisoff, Marcio de Queiroz
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    ABSTRACT: We study a recently-proposed nonlinear model for human heart rate response that describes the central and peripheral local responses during and after treadmill exercise. The treadmill speed is the control input, and the control objective is to make the heart rate track a prescribed reference trajectory. Using a strict Lyapunov function analysis, we design new state and output feedback tracking controllers that render the error dynamics globally exponentially stable to the origin. This allows us to show that the feedback stabilized error dynamics enjoys input-to-state stable performance under actuator errors. This robustness condition quantifies the effects of deviations of the treadmill speed from the controller values. We illustrate our control design through simulations.
    Decision and Control (CDC), 2010 49th IEEE Conference on; 01/2011
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    ABSTRACT: This paper introduces a new seven-mass biomechanical model for the vibration of vocal folds. The model is based on the body-cover layer concept of the vocal fold biomechanics, and segments the cover layer into three masses. This segmentation facilitates the model comparison with the motion of the vocal glottis contour derived from modern high-speed digital imaging systems. The model simulation is compared to experimental data from a pair of healthy vocal folds showing good agreement in the frequency and time domains. The proposed model is also shown to outperform a previously-developed model that does not explicitly account for the body layer dynamics.
    ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control; 01/2011
  • Xiaoyu Cai, Marcio de Queiroz, Glen Meades, Grover Waldrop
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    ABSTRACT: The enzyme acetyl-CoA carboxylase catalyzes the first committed step in fatty acid synthesis in all organisms. The E. coli form of the carboxyltransferase subunit was recently found to regulate its own activity and expression by binding its own mRNA. By binding acetyl-CoA or the mRNA encoding its own subunits, Carboxyltransferase is able to sense the metabolic state of the cell and attenuate its own translation and enzymatic activity using a negative feedback mechanism. In this paper, this network of interactions is modeled mathematically using mass action kinetics. Numerical simulations of the model show agreement with experimental results.
    ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control; 01/2011
  • An Wu, Marcio De Queiroz
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    ABSTRACT: This article introduces a new type of active fluid film bearing and its feedback control. In particular, the active adjustment of the angular velocity of the pads of a tilting-pad bearing in response to changes in the operating conditions of the rotating machine is proposed. This is motivated by the observation that there is more control authority in the pad tilting motion than in its radial translation. To this end, a dynamic model for the bearing system is first developed, inclusive of the nonlinear hydrodynamic force for the infinitely short bearing case. A model-based controller is then constructed, based on measurements of the journal position and velocity and pad tilting angles, to ensure that the journal is asymptotically regulated to the bearing center. Numerical simulations illustrate the performance of the active bearing under the proposed control in comparison with the bearing's standard passive mode of operation.
    Tribology Transactions 08/2010; 53(5):755-763. DOI:10.1080/10402001003783199 · 1.08 Impact Factor
  • F. Mazenc, M. Malisoff, M. de Queiroz
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    ABSTRACT: We study adaptive tracking control problems for nonlinear systems in feedback form with multiple inputs and unknown high-frequency control gains. We design controllers that yield uniform global asymptotic stability for the error dynamics, which implies parameter estimation and tracking for the original systems. Our proof relies on a new global strict Lyapunov function construction. We apply our result to a brushless DC motor turning a mechanical load. We use integral input-to-state stability to quantify the effects of time-varying uncertainties on the motor electric parameters.
    American Control Conference (ACC), 2010; 08/2010
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    ABSTRACT: Biotin carboxylase (BC) is a homodimer which catalyzes biotin carboxylation. A reaction is thought to occur in one monomer at a time (half-sites reactivity). BC can also function as a monomer. Evidence has shown that the B domain moves with hinge motion of 45 between an unliganded form and one with bound ATP, suggesting that some of the energy from ATP hydrolysis might be harnessed to do useful work. The free energy along a closure angle for the B domain was calculated using MD simulations for a monomer and dimer with and without one bound ATP. We found that the monomer favors a closed state with or without ATP with mean times for opening much smaller than the reaction time, and the most stable structure for the dimer without ATP was with both monomers open. For the dimer with ATP, opening the B domain without ATP caused the other B domain to open, but hysteresis was observed when closing it, preventing an accurate calculation. The data suggest that the most stable state has both sides closed, supporting the idea of half-sites reactivity.

Publication Stats

2k Citations
118.79 Total Impact Points

Institutions

  • 2000–2013
    • Louisiana State University
      • Department of Mechanical Engineering
      Baton Rouge, Louisiana, United States
    • City University of New York - Brooklyn College
      Brooklyn, New York, United States
  • 2011
    • French National Centre for Scientific Research
      Lutetia Parisorum, Île-de-France, France
  • 2006
    • University of Iowa
      • Department of Electrical and Computer Engineering
      Iowa City, IA, United States
  • 1996–2005
    • Clemson University
      • Department of Electrical and Computer Engineering
      Clemson, SC, United States
  • 2002
    • Oak Ridge National Laboratory
      Oak Ridge, Florida, United States