Prof. J. Baillieul
Distinguished Professor of Engineering
Professor of Mechanical Engineering
Professor of Electrical and Computer Engineering
Professor of Systems Engineering
BOSTON UNIVERSITY
PH: 617-353-9848 FAX: 617-353-5866

Profile

(2015)
John Baillieul's research deals with robotics, the control of mechanical systems, and mathematical system theory. He has done research and written about (1) the connections between optimal control theory and what has recently been called ``sub-Riemannian geometry,'' (2) problems in the control of nonlinear systems modeled by homogeneous polynomial differential equations, (3) the control theory of rotating elastic systems, (4) motion planning and control of kinematically redundant manipulators, and
(5) problems associated with anholonomy in planning motions for robots which have elastic joints and other components which store energy. Recently he has become interested
in problems in information based control, networked control systems, and communication- constrained control of nonholonomic systems.

Click here for a more extensive bio.
Click here for my papers and Google Scholar metrics.

"Fifty Years of Information Based Control Theory," The Twenty Third Bode Lecture Download.
Intelligent Mechatronics Lab in the news

"Batcopter flies to reveal secrets of swarming," Reuters, December 29, 2011 link.
The 48-th IEEE Conference on Decision and Control and the 28-Chinese Control Conference --- Shanghai, China, 2009

The World's Smallest Inverted Pendulum Experiments

As part of our research on nonlinear control and scaling laws, we have been developing the theory to support experiments in stabilizingwith very small scale inverted pendulums. Here are some (stainless steel) in the range of 1/2 inch down to two millimeters. Other MEMS type devices have been fabricated using surface micromachining techniques.

Recent Books:

1. Essays on Mathematical Robotics Edited with S. Shankar Sastry and Hector J. Sussmann, IMA Volumes in Mathematics and Its Applications, Springer Verlag, New York, 1998.

2. Essays in Mathematical Control Theory Edited with J.C. Willems, Springer Verlag, New York, 1998.

3. Mechanics and Control: nonholonomic mechanics, control, and variational principles, with A.M. Bloch, P.E. Crouch, and J.E. Marsden, Springer, New York, 2003.