M.S. de Queiroz

Louisiana State University, Baton Rouge, Louisiana, United States

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Publications (127)125.33 Total impact

  • Source
    Pengpeng Zhang · Marcio de Queiroz · Xiaoyu Cai
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    ABSTRACT: In this paper, we consider the problem of formation control of multi-agent systems in three-dimensional (3D) space, where the desired formation is dynamic. This is motivated by applications where the formation size and/or geometric shape needs to vary in time. Using a single-integrator model and rigid graph theory, we propose a new control law that exponentially stabilizes the origin of the nonlinear, interagent distance error dynamics and ensures tracking of the desired, 3D time-varying formation. Extensions to the formation maneuvering problem and double-integrator model are also discussed. The formation control is illustrated with a simulation of eight agents forming a dynamic cube.
    Full-text · Article · Aug 2015 · Journal of Dynamic Systems Measurement and Control
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    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.
    Full-text · Article · Jan 2015 · IEEE Transactions on Control Systems Technology
  • Xiaoyu Cai · Marcio de Queiroz
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    ABSTRACT: In this paper, we consider the problem of formation control of multi-agent systems where the desired formation is dynamic. This is motivated by applications, such as obstacle avoidance, where the formation size and/or geometric shape needs to vary in time. Using a single-integrator model and rigid graph theory, we propose a new control law that exponentially stabilizes the origin of the nonlinear, inter-agent distance error dynamics and ensures tracking of the desired formation. The extension to the formation maneuvering problem is also discussed. Simulation results for a five-agent formation demonstrate the control in action.
    No preview · Conference Paper · Oct 2014
  • Source
    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.
    Full-text · Article · Oct 2014 · Asian Journal of Control
  • Source
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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.
    Full-text · Conference Paper · Jun 2014
  • Source
    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.
    Full-text · Conference Paper · Jun 2014
  • Source
    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.
    Full-text · Conference Paper · Jun 2014
  • Saba Ramazani · Rastko Selmic · Marcio de Queiroz
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    ABSTRACT: This work provides a solution to a nonplanar multi-agent layered sensing and formation control problem using coning graphs. In particular, the problem addressed consists of one agent coordinating the actions of other interacting agents which are operating in a different plane. The objective is for the agents to cooperatively acquire a pre-defined formation shape using a decentralized control law. The proposed control strategy is based on inter-agent distances for single-integrator agent model and consists of formation acquisition term for non-planar agents. The simulation results that support the proposed approach are presented.
    No preview · Conference Paper · Jan 2014
  • Source
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    ABSTRACT: We present a new tracking controller for neuromuscular electrical stimulation (NMES), 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. Copyright
    Full-text · Article · Oct 2013 · International Journal of Robust and Nonlinear Control
  • 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.
    No preview · Article · Oct 2013 · Journal of Vibration and Control
  • Source
    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 rigid graph theory. Using a double-integrator agent model (as opposed to the simpler, single-integrator model), we propose a new control law to asymptotically stabilize the interagent distance error dynamics. Our approach uses simple backstepping and Lyapunov arguments. The control, which is explicitly dependent on the rigidity matrix of the undirected graph that models the formation, is derived for a class of potential functions. Specific potential functions are then used as a demonstration inclusive of simulation results.
    Full-text · Article · Aug 2013 · Journal of Dynamic Systems Measurement and Control
  • Source
    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.
    Full-text · Conference Paper · Jun 2013
  • 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.
    No preview · Conference Paper · Oct 2012
  • Source
    G Meades · X Cai · N.K. Thalji · G.L. Waldrop · M de Queiroz
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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.
    Full-text · Article · May 2011 · IET Systems Biology
  • Brian R Novak · Dorel Moldovan · Grover L Waldrop · Marcio S de Queiroz
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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.
    No preview · Article · Feb 2011 · Proteins Structure Function and Bioinformatics
  • 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.
    No preview · Article · Feb 2011 · Fuel and Energy Abstracts
  • 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.
    Full-text · Conference Paper · Jan 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.
    No preview · Conference Paper · Jan 2011
  • Zhenyi Wei · Marcio de Queiroz · Jing Chen · Bahadir K. Gunturk · Melda Kunduk
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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.
    No preview · Conference Paper · Jan 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.
    No preview · Article · Aug 2010 · Tribology Transactions

Publication Stats

3k Citations
125.33 Total Impact Points

Institutions

  • 2000-2015
    • Louisiana State University
      • Department of Mechanical Engineering
      Baton Rouge, Louisiana, United States
  • 1996-2005
    • Clemson University
      • Department of Electrical and Computer Engineering
      Clemson, SC, United States
  • 1999-2000
    • City University of New York - Brooklyn College
      Brooklyn, New York, United States