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Publications

Peer reviewed journal and conference papers

2016

Guaranteeing stable tracking of hybrid position-force trajectories
for a robot manipulator interacting with a stiff environment,

DJF Heck, A Saccon, N van de Wouw, H Nijmeijer
Automatica (accepted, available online), 2016, Pages 235-247

Second-Order-Optimal Minimum-Energy Filters on Lie Groups,
A Saccon, J Trumpf, R Mahony, AP Aguiar,
IEEE Transactions on Automatic Control (accepted, available online), 2016

Energy-Optimal Motion Planning for Multiple Robotic Vehicles With Collision Avoidance,
AJ Haeusler, A Saccon, AP Aguiar, J Hauser, AM Pascoal,
IEEE Transactions on Control Systems Technology (accepted, available online), 2016

2015

Trajectory Tracking of Mechanical Systems with Unilateral Constraints:
Experimental Results of a Recently Introduced Hybrid PD Feedback Controller,

GP Incremona, A Saccon, A Ferrara, H Nijmeijer,
IEEE Conference on Decision and Control (CDC), Japan, 2015

A Two-Layer Architecture for Force-Reflecting Bilateral Teleoperation with Time Delays,
DJF Heck, A Saccon, H Nijmeijer,
IEEE Conference on Decision and Control (CDC), Japan, 2015

On Optimal Trajectory Tracking for Mechanical Systems with Unilateral Constraints,
M Rijnen, A Saccon, H Nijmeijer,
IEEE Conference on Decision and Control (CDC), Japan, 2015

Switched position-force tracking control of a manipulator interacting with a stiff environment,
D.J.F Heck, A. Saccon, N. van de Wouw, H. Nijmeijer
American Control Conference (ACC), 2015, pages 4832-4837

2014

Sensitivity analysis of hybrid systems with state jumps with application to trajectory tracking
A. Saccon, N. van de Wouw, H. Nijmeijer
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on, pages 3065-3070

A Variational Integrators Approach to Second Order Modeling and Identification of
Linear Mechanical Systems

M. Bruschetta, G. Picci, A. Saccon,
Automatica, Volume 50, Issue 3, pages 727-736

2013

Four-Quadrant Propeller Modeling: A Low-Order Harmonic Approximation
A.J. Haeusler, A. Saccon, J. Hauser, A.M. Pascoal, A.P. Aguiar
Proceedings of the 9th IFAC Conference on Control Applications in Marine Science (CAMS), Osaka, Japan

Cooperative AUV motion planning using terrain information
A.J Hausler, A. Saccon, A.M. Pascoal, J. Hauser, A.P. Aguiar,
OCEANS-Bergen, 2013 MTS/IEEE, pages 1-10

Second-Order-Optimal Filters on Lie groups
A. Saccon, J. Trumpf, R. Mahony, and A.P. Aguiar,
In Proceedings of the 52nd IEEE Conference on Decision and Control (CDC), Florence, Italy, pages 4434-4441, 2013

Optimal Control on Lie Groups: The Projection Operator Approach
A. Saccon, J. Hauser, A.P. Aguiar
IEEE Transactions on Automatic Control, Volume 58, Issue 9, Sept. 2013

A Virtual Rider for Motorcycles: Maneuver Regulation of a Multi-Body Vehicle Model
A. Saccon, A. Beghi, J. Hauser
IEEE Transactions on Control Systems Technology, Volume 21, Issue 2, March 2013

Covariant differentiation of a map in the context of geometric optimal control
A. Saccon, J. Hauser, A.P. Aguiar
9th IFAC Symposium on Nonlinear Control Systems (NOLCOS). Toulouse, France. September 4-6, 2013.

Cooperative AUV motion planning using terrain information
A.J. Haeusler, A. Saccon, A.M. Pascoal, J. Hauser, A.P. Aguiar
in Proc. of OCEANS'13 MTS/IEEE Conference , Bergen, Norway, June 2013

2012

Constrained Motion Planning for Multiple Vehicles on SE(3),
A. Saccon, A.P. Aguiar, A.J. Husler, J. Hauser, and A. Pascoal,
51st IEEE Conference on Decision and Control, Maui, Hawaii, USA, Dec. 2012

Cooperative Motion Planning for Multiple Autonomous Marine Vehicles,
A.J. Husler, A. Saccon, A.P. Aguiar, J. Hauser, and A. Pascoal
9th IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC), Arenzano, Italy, Sep. 2012.

Trajectory Exploration of a Rigid Motorcycle Model
A. Saccon, J. Hauser, A. Beghi
IEEE Transactions on Control Systems Technology, Volume 20, Issue 2, March 2012

A numerical test of long-time stability for rigid body integrators,
G. Ortolan, A. Saccon,
International Journal for Numerical Methods in Engineering (IJNME), Volume 90, Pages 390-402, 2012

2011

Lie Group Projection Operator Approach: Optimal Control on TSO(3),
A. Saccon, A.P. Aguiar, J. Hauser,
50th IEEE Conference on Decision and Control (CDC), Orlando, FL, pages 6973-6978, 2011

Optimal Control on Lie Groups: Implementations Details of the Projection Operator Approach,
A. Saccon, J. Hauser, A.P. Aguiar,
18th IFAC World Congress, Milan, Italy, pages 14567-14572, 2011

2010

Midpoint Rule for Variational Integrators on Lie Groups,
A. Saccon,
International journal for numerical methods in engineering, vol. 78, issue 11, pages 1345–1364, 2010

Optimal Control on Non-Compact Lie Groups: A Projection Operator Approach,
A. Saccon, J. Hauser, A.P. Aguiar,
49th IEEE Conference on Decision and Control, Atlanta, Georgia, USA, pages 7111-7116, 2010

On the closed-form solution of an optimal control problem on the Lie Group SO(3),
A. Saccon, J. Hauser, A.P. Aguiar,
CONTROLO 9th Portuguese Conference on Automatic Control, Coimbra, Portugal, 2010

Exploration of Kinematic Optimal Control on the Lie Group SO(3),
A. Saccon, J. Hauser, A.P. Aguiar,
8th IFAC Symposium on Nonlinear Control Systems, Bologna, Italy, pages 1302-1307, 2010

A counterexample showing the semi-explicit Lie-Newmark algorithm is not variational,
N. Bou-Rabee, G. Ortolan, A. Saccon,
11th International Conference Computational and Mathematical Methods in Science and Engineering, Alicante, Spain, 2010

2009 and earlier

An Efficient Newton Method for General Motorcycle Kinematics,
A. Saccon, J. Hauser,
Vehicle System Dynamics, Volume 47, Issue 2, Pages 221-241, February 2009

A Virtual Rider for Motorcycles: An Approach Based on Optimal Control and Maneuver Regulation,
A. Saccon, J. Hauser, A. Beghi,
3rd IEEE International Symposium on Communications, Control and Signal Processing (ISCCSP), St. Julians, Malta, March 12-14, pages 243-248, 2008

The Driven Rolling Torus,
J. Hauser, A. Saccon,
7th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Pretoria, South Africa, 22-24 August, 2007.

Reduced Dynamic Inversion for Planar and Spatial Vehicles,
A. Saccon, J. Hauser, R. Frezza,
7th IFAC Symposium on Nonlinear Control Systems (NOLCOS), Pretoria, South Africa 22-24 August, 2007.

Motorcycle Modeling for High-Performance Maneuvering. Maximum velocity profile estimation,
J. Hauser, A. Saccon,
IEEE Control Systems Magazine, volume 26, issue 5, pages 89-105, 2006

A Barrier Function Method for the Optimization of Trajectory Functionals with Constraints,
J. Hauser, A. Saccon,
45rd IEEE Conference on Decision and Control(CDC), San Diego, CA, USA. December 13-15, 2006.

On the Driven Inverted Pendulum,
J. Hauser,A. Saccon, R.Frezza,
44rd IEEE Conference on Decision and Control (CDC), Seville, Spain, December 12-15, 2005.

Model Predictive and Hierarchical Control for Path Following with Motorcycles:
Application to the Development of the Pilot Model for Virtual Prototyping,

R. Frezza, A. Beghi, A. Saccon,
43rd IEEE Conference on Decision and Control (CDC), Atlantis, Paradise Island, Bahamas, 2004.

SmartDriver: a Research Project for Closed Loop Vehicle Simulation in MSC.ADAMS,
R. Frezza, A. Saccon, D. Minen, C. Ortmann,
3rd International Symposium on Multi-body Dynamics: Monitoring and Simulation Techniques (MBD-MST), Loughborough University, Loughborough, Leicestershire, UK, 2004

Aggressive Motorcycle Trajectories,
J. Hauser, A. Saccon, R. Frezza,
6th Symposium on Nonlinear Control Systems (NOLCOS), Stuttgart, Germany, 2004.

Control of a bicycle using model predictive control strategy,
A. Saccon, J. Hauser, R. Frezza,
6th Symposium on Nonlinear Control Systems (NOLCOS), Stuttgart, Germany, 2004.

A Planar Motorcycle Model for Exploring Chain Drive - Suspension Interactions,
A. Saccon, J. Hauser, R. Frezza,
7th International Symposium on Advanced Vehicle Control (AVEC), Arnhem, The Nederlands, 2004.

Quasi-Steady-State Approximation of the Dynamics of a Planar Motorcycle,
A. Saccon, J. Hauser,
43rd IEEE Conference on Decision and Control (CDC), Atlantis, Paradise Island, Bahamas, 2004.

Book chapters

Virtual Rider Design: Optimal Manoeuvre Definition and Tracking
A. Saccon, J. Hauser, A. Beghi
Modelling, Simulation and Control of Two-Wheeled Vehicles, Wiley, pages 83-117

On optimal infinite-time regulation on SO(3),
A. Saccon, J. Hauser, A.P. Aguiar,
`Textos de Matematica' in honour of the 60th birthday of Prof. Fatima Leite, Department of Mathematics, University Coimbra, Joao Cardoso, Knut H¨uper, and Paulo Saraiva Eds., 2011

How to Sample Linear Mechanical Systems,
M. Bruschetta, G. Picci, A. Saccon,
Perspectives in Mathematical System Theory, Control, and Signal Processing, Springer Berlin/Heidelberg, 2010

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Last update: December 21, 2015