Deryck Yeung

Learn More
In this paper, we study hybrid models that not only undergo mode transitions, but also experience changes in dimensions of the state and input spaces. An algorithmic framework for the optimal control of such Multi-Mode, MultiDimension (or MD) systems is presented. We moreover derive a detailed MD model for an ice-skater, and demonstrate the use of the(More)
This paper analyzes the locomotion of simple mechanisms when the inertial forces are much smaller compared to the applied forces. The induced motion of the body is entirely due to viscous friction contact with the environment. The friction coefficient depends on the body geometry, and we assume a model where it is simply a function of the sign of the(More)
In this paper, we delve further into the Gluskabi raccordation problem introduced in [8]. The problem involves the connection of any two trajectories with a particular behavior in such a way that this behavior persists during the transition. Specifically, we will consider connecting two periodic trajectories with quasi-periodic paths; we will compare the(More)
Modern control system analysis and design uses state space methods to develop models of both physical systems and their respective controllers. However, teaching state space to undergraduate students is often difficult due to the mathematical complexity and lack of visual validation when compared to classical control system design. The authors in this paper(More)
  • 1