Applied Nonlinear Controls Lab

Publications

Author in bold font denotes graduate student supervised.

Articles Accepted to Refereed Journals

2017

  1. G. Fink, H. Xie, A.F. Lynch, and M. Jagersand. Dynamic Visual Servoing for a Quadrotor using a New Virtual Camera. Unmanned Systems, Volume 5, Number 1, 2017, 1-17. http://dx.doi.org/10.1142/S2301385017500017

2016

  1. H. Xie and A.F. Lynch. Input saturated visual servoing for Unmanned Aerial Vehicles. IEEE Transactions on Mechatronics, Volume 22, Number 2, 2017 (published online in 2016), 952-960. http://dx.doi.org/10.1109/TMECH.2016.2608862
  2. H. Xie, G. Fink, A.F. Lynch, M. Jagersand. Adaptive Dynamic Visual Servoing of a UAV. IEEE Transactions on Aerospace and Electronic Systems, Volume 52, Number 5, 2016, 2529-2538. https://doi.org/10.1109/TAES.2016.15-0155

2015

  1. H. Xie and A. F. Lynch. State transformation based dynamic visual servoing for an Unmanned Aerial Vehicle. International Journal of Control, Volume 89, Number 5, 2016 (published online in 2015), 892-908. http://dx.doi.org/10.1080/00207179.2015.1104554
  2. N. Cao and A. F. Lynch. Inner-outer loop control for quadrotor UAVs with input and state constraints. IEEE Transactions on Control Systems Technology, Volume 25, Number 5, 2016 (published online in 2015), 1797-1804. http://dx.doi.org/10.1109/TCST.2015.2505642
  3. G. Fink, H. Xie, A. F. Lynch, and M. Jagersand. Nonlinear dynamic image-based visual servoing of a quadrotor. Journal of Unmanned Vehicle Systems, Volume 3, Number 1, 2015, 1-21. http://dx.doi.org/10.1139/juvs-2014-0011

2014

  1. H. Xie, A. F. Lynch, and M. Jagersand. Dynamic IBVS of a rotary wing UAV using line features. Robotica, Volume 34, Number 9, 2016, 2009-2026. (published online in 2014). http://dx.doi.org/10.1017/S0263574714002707
  2. B. Godbolt and A.F. Lynch. Model-based helicopter UAV control: experimental results. Journal of Intelligent & Robotic Systems, Volume 73, Number 1-4, 2014, 19-31. http://dx.doi.org/10.1007/s10846-013-9898-3
  3. B. Godbolt and A.F. Lynch. Control-oriented physical input mapping for a helicopter UAV. Journal of Intelligent & Robotic Systems, Volume 73, Number 1-4, 2014, 209-217. http://dx.doi.org/10.1007/s10846-013-9933-4

2013

  1. B. Godbolt, N.I. Vitzilaios and A.F. Lynch. Experimental validation of a helicopter autopilot design using model-based PID control, Journal of Intelligent & Robotic Systems, Volume 70, Number 1, 2013, 385-399. http://dx.doi.org/10.1007/s10846-012-9720-7
  2. M. Barczyk and A.F. Lynch. Invariant observer design for a helicopter UAV aided inertial navigation system, IEEE Transactions on Control Systems Technology, Volume 21, Number 3, 2013, 791-806. http://dx.doi.org/10.1109/TCST.2012.2195495
  3. R.M. Milasi, A.F. Lynch, and Y. Li. Adaptive vector control for voltage source converters, IET Control Theory and Applications, Volume 7, Number 8, 2013, 1110-1119. http://dx.doi.org/10.1049/iet-cta.2011.0785
  4. R.M. Milasi, A.F. Lynch, and Y. Li. Adaptive control of a voltage source converter for power factor correction, IEEE Transactions on Power Electronics, Volume 28, Number 10, 2013, 4767-4779. http://dx.doi.org/10.1109/TPEL.2012.2236685

2012

  1. M. Barczyk and A.F. Lynch. Integration of a triaxial magnetometer into a helicopter UAV GPS-aided inertial navigation system, IEEE Transactions on Aerospace and Electronic Systems, Volume 48, Number 4, 2012, 2947-2960. http://dx.doi.org/10.1109/TAES.2012.6324671

2011

  1. K. Kvaternik and A.F. Lynch. Global tracking via output feedback for nonlinear MIMO systems, IEEE Transactions on Automatic Control, Volume 56, Number 9, 2011, 2179-2184. http://dx.doi.org/10.1109/TAC.2011.2158134
  2. O. Dahl, Y. Wang, A.F. Lynch, and A. Heyden. Observer forms for perspective systems, Automatica, Volume 46, Number 11, 2011, 1829-1834. http://dx.doi.org/10.1016/j.automatica.2010.06.047

2010

  1. Y. Wang and A.F. Lynch. Time scaling of a multi-output observer form, IEEE Transactions on Automatic Control, Volume 55, Number 4, 2010, 966-971. http://dx.doi.org/10.1109/TAC.2010.2041616

2009

  1. T.R. Grochmal and A.F. Lynch. Control of a contactless servomotor: active load balancing by Lorenz-force levitation, IEEE Control Systems Magazine, Volume 29, Number 5, 2009, 74-92. http://dx.doi.org/10.1109/MCS.2009.933488
  2. Y. Wang and A.F. Lynch. Observer design using a generalized time-scaled block triangular observer form. Systems & Control Letters, Volume 58, Number 5, 2009, 346-352. http://dx.doi.org/10.1016/j.sysconle.2008.12.005
  3. E. Song, A.F. Lynch, and V. Dinavahi. Experimental validation of a flatness-based control for a voltage source converter, IEEE Transactions on Control Systems Technology, Volume 17, Number 5, 2009, 1135-1144. http://dx.doi.org/10.1109/TCST.2008.2001741

2008

  1. T.R. Grochmal, C.P. Forbrich and A.F. Lynch. A Nonlinear bearing force and torque model for a toothless self-bearing servomotor, IEEE Transactions on Magnetics, Volume 44, Number 7, 2008, 1805-1814.
  2. M. Barczyk and A.F. Lynch. A Flatness-based estimated state feedback control for a rotating flexible beam: experimental results, IET Control Theory & Applications, Volume 2, Number 4, 2008, 288-302.

2007

  1. Y. Wang and A.F. Lynch. A block triangular observer form for non-linear observer design, International Journal of Control, Volume 81, Number 2, 2007, 177-188.
  2. K. Roebenack and A.F. Lynch. High-gain nonlinear observer design using the observer canonical form, IET Control Theory and Applications, Volume 6, Number 1, 2007, 1574-1579.
  3. T.R. Grochmal and A.F. Lynch. Precision tracking of a rotating shaft with magnetic bearings by nonlinear decoupled disturbance observers, accepted to IEEE Transactions on Control Systems Technology, Volume 15, Number 6, 2007, 1112-1121.
  4. S.K. Chung, C.R. Koch, and A.F. Lynch. Flatness-based feedback control of an automotive solenoid valve. IEEE Transactions on Control Systems Technology, Volume 15, Number 2, 2007, 394-401.
  5. T.R. Grochmal and A.F. Lynch. Experimental comparison of nonlinear tracking controllers for active magnetic bearings. Control Engineering Practice, Volume 15, Number 1, 2007, 95-107.

2006

  1. K. Roebenack and A.F. Lynch. Observer design using a partial nonlinear observer canonical form, International Journal of Applied Mathematics and Computer Science, Volume 16, Number 3, 2006, 333-343.
  2. Y. Wang and A.F. Lynch. A block triangular form for nonlinear observer design. IEEE Transactions on Automatic Control, Volume 51, Number 11, 2006, 1803-1808.

2005

  1. R.C. Chladny, C.R. Koch, and A.F. Lynch. Modeling of automotive gas exchange valve solenoid actuators. IEEE Transactions on Magnetics. Volume 41, Number 3, 2005, 1155-1162.

2004

  1. A.F. Lynch, S.A. Bortoff, and K. Roebenack. Nonlinear observer-based tension estimation in web handling machines. Automatica. Volume 40, 2004, 1517-1524.
  2. K. Roebenack and A.F. Lynch. An efficient method for observer design with approximately linear error dynamics. International Journal of Control. Volume 77, Number 7, 2004, 607-612.

2003 and older

  1. A.F. Lynch, C.R. (Bob) Koch, and Ryan Chladny. Nonlinear observer design for sensorless electromagnetic actuators. Dynamics Of Continuous Discrete And Impulsive Systems-Series B-Applications & Algorithms, Special Issue, 2003, 317-322.
  2. A.F. Lynch and J. Rudolph. Flatness-based boundary control of a class of quasilinear parabolic systems. International Journal of Control. Volume 75, Number 15, 2002, 1219-1230.
  3. A.F. Lynch and S.A. Bortoff. Nonlinear observers with approximately linear error dynamics: The multivariable case. IEEE Transactions on Automatic Control. Volume 46, Number 7, 2001, 927-932.
  4. A.F. Lynch and J. Rudolph. Flachheitsbasierte Randsteuerung parabolischer Systeme mit verteilten Parametern (Flatness-based boundary control of parabolic distributed parameter systems). at - Automatisierungstechnik. Volume 48, Number 10, 2000, 478-486.
  5. A.F. Lynch and S.E. Salcudean. Internal model-based controller design using measured costs and gradients. International Journal of Control. Volume 69, Number 2, 1998, 257-270.
  6. A.F. Lynch and S.A. Bortoff. Nonlinear observer design by approximate error linearization. Systems & Control Letters. Volume 32, Number 3, 1997, 161-172.

Refereed Articles in a Collection

  1. A.F. Lynch and D. Wang. Flatness-based Motion Planning Control of an Euler-Bernoulli Beam in a Gravitational Field. Algebraic Methods in Flatness, Signal Processing and State Estimation. Ed. H. Sira-Ramirez and G. Silva-Navarro, Innovacion Editorial Lagares, 2003, 149-170.
  2. A.F. Lynch and J. Rudolph. Flatness-based boundary control of a nonlinear parabolic equation modelling a tubular reactor. Nonlinear Control in the Year 2000 (volume 2). Lecture Notes in Control and Information Science, Ed. A. Isidori, F. Lamnabhi-Lagarrique, and W. Respondek, Springer-Verlag 2000, 45-54.

Other Refereed Contributions

  1. G. Fink, M. Franke, A. F. Lynch, K. Röbenack, and B. Godbolt. Observer design for visual inertial SLAM scale on a quadrotor UAV. Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), sponsored by IEEE, (Miami, FL), 6/17, 830-839. http://dx.doi.org/10.1109/ICUAS.2017.7991497
  2. G. Fink, M. Franke, A. F. Lynch, K. Röbenack, and B. Godbolt. Visual Inertial SLAM: Application to Unmanned Aerial Vehicles. Proceedings of the 20th World Congress of the International Federation of Automatic Control, sponsored by IFAC, (Toulouse, France), 7/17, 2001-2006.
  3. N. Cao and A.F. Lynch. Predictor-based controllers for UAVs with input delay. Proceedings of the International Conference on Advanced Intelligent Mechatronics (AIM), sponsored by IEEE, (Muenchen, Germany), 7/17, 803-808. http://dx.doi.org/10.1109/AIM.2017.8014116
  4. G. Fink, M. Franke and A.F. Lynch. Visual Inertial SLAM: Application to Unmanned Aerial Vehicles. Proceedings of the 2016 Unmanned Systems Canada Conference, sponsored by Unmanned Systems Canada, (Edmonton, AB), 11/16, 16 pages. Student Competition Winner.
  5. H. Xie and A.F. Lynch. Dynamic image-based visual servoing for unmanned aerial vehicles with bounded inputs. Proceedings of the Canadian Conference on Electrical and Computer Engineering (CCECE), sponsored by IEEE, (Vancouver, BC), 5/16, 1-5. http://dx.doi.org/10.1109/CCECE.2016.7726618
  6. G. Fink, H. Xie, A.F. Lynch, and M. Jagersand. Experimental validation of dynamic visual servoing for a quadrotor using a virtual camera. Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), sponsored by IEEE, (Denver, CO), 6/15, 1231-1240. http://dx.doi.org/10.1109/ICUAS.2015.7152416
  7. N. Cao and A.F. Lynch. Inner-outer loop control with constraints for rotary-wing UAVs. Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), sponsored by IEEE, (Denver, CO), 6/15, 294-302. http://dx.doi.org/10.1109/ICUAS.2015.7152303
  8. G. Fink, A. Othmane, and A.F. Lynch. Motion control of unmanned aerial vehicles with time delay compensation. Student Papers Competition Finalist. Proceedings of Unmanned Systems Canada 2015 Annual Conference, sponsored by Unmanned Systems Canada, (Halifax, NS), 2015, 11/15, 19 pages.
  9. H. Xie, A.F. Lynch, and M. Jagersand. IBVS of a rotary wing UAV using Line Features. Proceedings of the Canadian Conference on Electrical and Computer Engineering (CCECE), sponsored by IEEE, (Toronto, ON), 5/14, 1-6. http://dx.doi.org/10.1109/CCECE.2014.6901119
  10. H. Xie, R. Tatsambon, and A.F. Lynch. Reduced-order observer design for structure and motion estimation. Proceedings of the SIAM Conference on Control and its Applications, sponsored by SIAM, (San Diego, CA), 7/13, 37-43.
  11. M. Barczyk and A.F. Lynch. Control-oriented modeling of a helicopter UAV with a Bell-Hiller stabilizer mechanism. Proceedings of the American Control Conference (ACC), sponsored by AACC/IFAC, (Washington, DC), 6/13, 313-320.
  12. R.M. Milasi, A.F. Lynch, and Y. Li. Experimental validation of an adaptive control for a Voltage Source Converter. Proceedings of the American Control Conference (ACC), sponsored by AACC/IFAC, (Washington, DC), 6/13, 4159-4164.
  13. B. Godbolt and A.F. Lynch. A novel cascade controller for a helicopter UAV with small body force compensation. Proceedings of the American Control Conference (ACC), sponsored by AACC/IFAC, (Washington, DC), 6/13, 800-805.
  14. B. Godbolt and A.F. Lynch. Physical input modelling and identification for a helicopter UAV. Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), sponsored by IEEE, (Atlanta, GA), 5/13, 890-896.
  15. B. Godbolt, N. Vitzilaios, C. Bergen, and A.F. Lynch. Experimental validation of a helicopter autopilot: time-varying trajectory tracking. Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), sponsored by IEEE, (Atlanta, GA), 5/13, 392-397.
  16. B. Godbolt, N. Vitzilaios, and A.F. Lynch. Design and validation of a helicopter UAV autopilot. Proceedings of the International Conference on Unmanned Aircraft Systems (ICUAS), sponsored by IEEE, (Philadelphia, PA), 5/12, Paper No. 12, 12 pages.
  17. M. Barczyk and A.F. Lynch. Invariant Extended Kalman Filter design for a magnetometer-plus-GPS aided Inertial Navigation System. Proceedings of the Conference on Decision and Control and European Control Conference (CDC-ECC), sponsored by IEEE, (Orlando, FL), 12/11, 5389-5394.
  18. M. Barczyk and A.F. Lynch. An Attitude and Heading Reference System design for indoor UAV testing. Proceedings of the 23rd Canadian Congress of Applied Mechanics, sponsored by CANCAM, (Vancouver, BC), 6/11, 4 pages.
  19. Y. Wang, A.F. Lynch, and S.A. Bortoff. On the output transformation to an observer form. Proceedings of the Twelfth IASTED International Conference on Control and Applications, sponsored by IASTED, (Banff, AB), 7/10, 516-522.
  20. R. Milasi, A.F. Lynch, and Y. Li. Adaptive control of a voltage source converter. Proceedings of the Canadian Conference on Electrical and Computer Engineering (CCECE) , sponsored by IEEE, (Calgary, AB), 5/10, 4 pages.
  21. M. Barczyk, M. Jost, D.R. Kastelan, A.F. Lynch, and K. Listmann. An experimental validation of magnetometer integration into a GPS-aided helicopter UAV navigation system. Proceedings of the American Control Conference (ACC) , sponsored by AACC/IFAC, (Baltimore, MD), 6/10, 4439 - 4444.
  22. O. Dahl, Y. Wang, A.F. Lynch, and A. Heyden. Observer forms for perspective systems, Proceedings of the 2010 Reglermöte (Swedish Control Conference), Lund, Sweden, 6/10, 6 pages.
  23. K. Kvaternik and A.F. Lynch. Globally stabilizing output feedback control for MIMO nonlinear systems. Proceedings of the European Control Conference (ECC), sponsored by EUCA, (Budapest, Hungary), 8/09, 4119-4126.
  24. K. Kvaternik and A.F. Lynch. A BTOF observer backstepping-based ouptut feedback law for nonlinear systems. Proceedings of the IEEE Mutli-conference on Systems and Control, sponsored by IEEE, (St. Petersburg, Rusia), 7/09.
  25. Y. Wang and A.F. Lynch. Time scaling of a multi-output observer form. Proceedings of the American Control Conference (ACC), sponsored by AACC/IFAC, (Seattle, WA), 6/08, 5242-5247.
  26. Y. Wang and A.F. Lynch. Further discussion on a Block Triangular Observer Form. Proceedings of Chinese Control Conference (CCC), sponsored by IEEE, (Kunming, China), 7/08, 332-336.
  27. O. Dahl and Y. Wang and A.F. Lynch and A. Heyden. Observer Forms for Perspective Systems. Proceedings of the 17th IFAC World Congress, sponsored by IFAC, (Seoul, Korea), 07/08, 8618-8623.
  28. T.R. Grochmal and A.F. Lynch. A numerical analysis of the algebraic derivative method with application to magnetic bearings. Proceedings of the Institute of Electrical and Electronics Engineers Conference on Decision and Control (CDC), sponsored by IEEE, (New Orleans, LA), 12/07, 1021-1026.
  29. T.R. Grochmal, C.P. Forbrich, and A.F. Lynch. Modeling and nonlinear control of a toothless self-bearing motor. Proceedings of the Fourth International Symposium on Stability Control of Rotating Machinery (ISCORMA), sponsored by the Bentley Pressurized Bearing Company, (Calgary, AB), 9/07, 259-271.
  30. E. Song, A.F. Lynch, and V. Dinavahi. Experimental validation of a flatness-based control for a voltage source converter. Proceedings of the American Control Conference (ACC), sponsored by AACC/IFAC, (New York, NY), 6/07, 6049-6054.
  31. Y. Wang and A.F. Lynch. On the existence of a block triangular form. Proceedings of the American Control Conference (ACC), sponsored by AACC/IFAC, (New York, NY), 6/07, 2346-2351.
  32. D.R. Kastelan and A.F. Lynch. Design and implementation of a navigation system for a rotorcraft-based UAV. Proceedings of AERO 2007, (Toronto, ON), 4/07, 6 pages CD-ROM.
  33. Y. Wang and A.F. Lynch. Block triangular form and nonlinear observer design. Proceedings of the Advanced Process Control: Applications for Industry Workshop (APC), sponsored by IEEE, (Vancouver, BC), 5/07, 6 pages CD-ROM.
  34. T.R. Grochmal and A.F. Lynch. Nonlinear control of an active magnetic bearing with bias currents: experimental study. Proceedings of the American Control Conference (ACC), sponsored by AACC/IFAC, (Minneapolis, MN), 6/06, 4558–4563.
  35. Y. Wang and A.F. Lynch. Observer design using a time scaled block triangular observer form. Proceedings of the American Control Conference (ACC), sponsored by AACC/IFAC, (Minneapolis, MN), 6/06, 799–804.
  36. M. Barczyk and A.F. Lynch. Flatness-based closed-loop control of a rotating Euler Bernoulli beam: experimental results. Proceedings of the American Control Conference (ACC), sponsored by AACC/IFAC, (Minneapolis, MN), 6/06, 4018–4024.
  37. C.O. Aguilar and A.F. Lynch. Underactuated attitude control via orbital flatness. Proceedings of the 8th IASTED International Conference on Control and Applications (CA 2006), sponsored by IASTED, (Montreal, QC), 5/06, 75–80.
  38. T.R. Grochmal and A.F. Lynch. Vibration compensation and precision tracking of a rotating shaft by nonlinear state feedback. Proceedings of the 10th International Symposium on Magnetic Bearings (ISMB), sponsored by the Swiss Academy of Engineering Sciences and IEEE, (Martigny, Switzerland), 9/06, 6 pages CD-ROM.
  39. C.R. Koch, A.F. Lynch, S. Chung. Flatness-based automotive solenoid valve control. To appear in Proceedings of the 6th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2004), sponsored by IFAC, (Stuttgart, Germany), 8/04, 2004, 1091-1096.
  40. A.F. Lynch, D. Wang. Dynamic model of a 5-axis magnetic bearing system with flexible rotor. In Proceedings of the 9th International Symposium on Magnetic Bearings (ISMB), sponsored by ASME/IEEE, (Lexington, KY), 2004.
  41. A.F. Lynch and D. Wang. Flatness-based motion planning control of an Euler-Bernoulli beam in a gravitational field. Proceedings of the American Control Conference, sponsored by AACC/IFAC, (Boston, MA), 2004, 6449-6464.
  42. C.R. (Bob) Koch and A.F. Lynch. Control of precision electromagnetic actuators: active magnetic bearing and solenoid valve actuators. Proceedings of the 2nd Canadian Society for Mechanical Engineering (CSME) Biennial Symposium on Mechatronics. (Calgary, AB, Canada), 2003, CD-ROM.
  43. C.R. (Bob) Koch, A.F. Lynch, and Ryan Chladny. Modeling and control of solenoid valves for internal combustion engines. Proceedings of the International Federation of Automatic Control (IFAC) 2nd Annual Conference on Mechatronic Systems, sponsored by IFAC, (Berkeley, CA), 2002, 213-218.
  44. A.F. Lynch and J. Rudolph. Flatness-based boundary control of coupled nonlinear PDEs modelling a tubular reactor. Proceedings of the International Symposium on Nonlinear Theory and its Applications NOLTA2000. (Dresden, Germany), 2000, 641-644.
  45. A.F. Lynch and S.A. Bortoff. Observer design for non-integrable systems. Proceedings of the American Control Conference, sponsored by AACC/IFAC, (Albuquerque, NM), 1997, 176-181.
  46. S.A. Bortoff and A.F. Lynch. Synthesis of optimal nonlinear observers. Proceedings of the Institute of Electrical and Electronics Engineers Conference on Decision and Control (CDC), sponsored by IEEE, (New Orleans, LA), 1995, 95-100.
  47. A.F. Lynch and S.E. Salcudean. On-line controller tuning using the Q-parameterization. Proceedings of the Institute of Electrical and Electronics Engineers Canadian Conference on Electrical and Computer Engineering (CCECE), sponsored by IEEE, (Vancouver, BC), 1993, 596-599.

Theses

  1. K. Listmann. Modellbildung und Regelung fuer einen Modellhubschrauber. Dipl.-Ing. thesis (Diplomarbeit), Technische Universitaet Dresden, Fakultaet Elektrotechnik und Informationstechnik, Institut fuer Regelungs- und Steuerungstheorie, Dec 2006. Co-supervisor: J. Rudolph.
  2. E. Song. Experimental validation of a flatness-based control for a voltage source converter, M.Sc. thesis, University of Alberta, Nov 2006. Co-supervisor: V. Dinavahi.
  3. C.O. Aguilar. Attitude Control of a Differentially Flat Underactuated Rigid Spacecraft, M.Sc. thesis, University of Alberta, Sep 2005.
  4. M. Barczyk. Flatness-Based Open and Closed-loop Control of a Flexible Beam System, M.Sc. thesis, University of Alberta, Sep 2005. Co-Supervisor: T. Chen.
  5. S. Chung. Flatness-based feedback control of an automotive solenoid valve, M.Sc. thesis, University of Alberta, Sep 2005. Co-Supervisor: C.R. Koch.
  6. A.F. Lynch. Nonlinear Observer Synthesis and Error Linearization, Ph.D. thesis, University of Toronto, June 1999.