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Journals
and Peer-Reviewed Conference Papers


2008 :

H. Hailu and S. Brennan. "Use of Dimensional Analysis to Reduce the Parametric Space for Gain-Scheduling." To appear in the ASME Transactions on Dynamic Systems, Measurement, and Control. 2008.

V. Mehta, F. Gandhi, and S. Brennan. "Experimentally Verified Optimal Serpentine Gait and Hyper-Redundancy of a Rigid-Link Snake Robot." To appear in the IEEE Transactions on Robotics and Automation. 2008.

A. Dean and S. Brennan, "A Low-order Dynamic Model of a Tracked Robot Inclusive of Nonlinear Slip." To appear in the International Journal of Heavy Vehicle Systems. 2008.

V. Gupta and S. Brennan, Submitted December 2006."Vehicle State Estimation Using Vision and Inertial Measurements." To appear in the Journal of Field Robotics.
 


2007 :

S. Brennan, J. Buckland, U. Christen, K. Fischbach, I. Haskara and I, Kolmanovsky. "Editorial: Special Issue on Control Applications in Automotive Engineering." IEEE Transactions on Control Systems Technology vol. 13, no. 3, pg. 403-405, 2007.

V. Gupta and S. Brennan, "Vehicle State Estimation using Vision and Inertial Measurements," Fifth IFAC Symposium on Advances in Automotive Control. Aug. 19-22. Monterey Coast, CA.

S. Brennan. "Mechatronics and Systems Instruction Across Graduate, Undergraduate, and Research Applications Using Rapidly Reconfigurable Hardware." 2007 ASEE Annual Conference and Exhibition. Oahu Hawaii, 2007.

B. Hamblin and S. Brennan. "Lessons Learned from Matching Experimental Data to Low-Order Models of Vehicle Behavior." 2007 ASME IMECE, New York, NY. Paper Number IMECE2007-42202.

B. Hamblin and S. Brennan. "Utilization of Vehicle Dynamic Simulations as Predictors of Highway Safety." 2007 ASME IMECE, New York, NY. Paper Number IMECE2007-42195.
 


2006 :


2005 :

S. Brennan, and A. Alleyne, "Dimensionless Robust Control With Application to Vehicles," IEEE Transactions on Control Systems Technology vol. 13, no. 4, pg. 624-630, April, 2005.


2004 :

S. Brennan, "Similarity Conditions for Comparing Closed-Loop Vehicle Roll and Pitch Dynamics." Proceedings of the 2004 American Control Conference, Boston, MA, June 30 - July 2, 2004.

E. Ozatay, B. Zile, J. Anstrom, and S. Brennan. "Power Distribution Control Coordinating Ultracapacitors and Batteries for Electric Vehicles." Proceedings of the 2004 American Control Conference, Boston, MA, June 30 - July 2, 2004.

C. Robinson, D. Block, S. Brennan, F. Bullo, and J. Cortes. "Nonsmooth analysis and sonar-based implementation of distributed coordination algorithms." Proceedings of the 2004 IEEE Conference on Robotics and Automation, New Orleans, April, 2004.

S. Brennan and A. Alleyne. "Real-time identification of vehicle chassis dynamics using a novel reparameterization based on sensitivity invariance." International Journal of Adaptive Control and Signal Processing, vol. 18, no. 2, pg. 103-123, March, 2004.


2003 :

S. Brennan. "Dimensionless Sensitivity Methods for the Identification of Vehicle Chassis Dynamics." Proceedings of the 2003 ASME IMECE, November, 2003.

S. Brennan and A. Alleyne. "Generalized H-infinity Vehicle Control Utilizing Dimensional Analysis." Proceedings of the 2003 American Control Conference, Denver, Colorado, pg. 3774--3780, June 4--6, 2003.

A. Alleyne, S. Brennan, B. Rasmussen, R. Zhang, and Y. Zhang. "Controls and experiments: lessons learned." IEEE Control Systems Magazine, vol. 23, no. 5, pg. 20--34, October, 2003.


2002 :

S. Brennan and A. Alleyne. "H-infinity vehicle control using non dimensional perturbation measures." Proceedings of the 2002 American Control Conference, Anchorage, Alaska, pg. 2534--2539, May, 2002.


2001 :

S. Brennan and A. Alleyne. "Integrated Vehicle Control via Coordinated Steering and Wheel Torque Inputs" Proceedings of the American Control Conference, Arlington, VA, Arlington, Virginia, pg. 7-12, June 25-27, 2001.

S. Brennan and A. Alleyne. "Robust Scalable Vehicle Control Via Non-dimensional Vehicle Dynamics." Vehicle System Dynamics, vol. 36, no. 4-5, pg. 255-278, Nov., 2001.

S. Brennan and A. Alleyne. "Using a Scale Testbed: Controller Design and Evaluation." IEEE Control Systems Magazine, vol. 21, no. 3, pg. 15-26, June, 2001.


2000 :

S. Brennan and A. Alleyne. "Robust stabilization of a generalized vehicle, a nondimensional approach." Proceedings of the 5th International Symposium on Advanced Vehicle Control (AVEC), Ann-Arbor, Michigan, August 22-24, 2000.  

S. Brennan and A. Alleyne. "The Illinois Roadway Simulator: A Mechatronic Testbed for Vehicle Dynamics and Control." IEEE/ASME Transactions on Mechatronic Systems, vol. 5, no. 4, 2000.


1999 :

S. Brennan and A. Alleyne. "A scaled testbed for vehicle control: the IRS." IEEE International Conference on Control Applications, Kohala Coast, Hawaii, pg. 327-332, August 22-27, 1999.

S. Brennan and A. Alleyne. "Driver assisted yaw rate control." Proceedings of the 1999 American Controls Conference, San Diego, CA, pg. 1679-1704, June 2--4, 1999.


1998 :

S. Brennan, M. DePoorter, and A. Alleyne. "The Illinois roadway simulator - a hardware-in-the-loop testbed for vehicle dynamics and control." Proceedings of the 1998 American Control Conference, Philadelphia, PA, pg. 493-497, June, 1998.

M. DePoorter, S. Brennan, and A. Alleyne. "Driver Assisted Control Strategies: Theory and Experiment." Proceedings of the 1998 ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA, 1998.

M. Lieberman, C. Bragg, and S. Brennan. "Determining Gravimetric Bark Content in Cotton with Machine Vision." Textile Research Journal, vol. 68, no. 2, Feb., 1998.
 


1997 :

N. Aukland, H. Hardee, A. Wehr, S. Brennan, and P. Lees. "An Examination of the Metallic Bonding of a Clad Material and Two Gold Plating Systems under Constant Force Fretting Conditions." Proceedings of the IEEE-HCEC, Seattle, 1997.

Theses


2007 :

Yu, Nan., "Yaw-Control Enhancement for Buses by Active Front-Wheel Steering." PhD Thesis, Mechanical Engineering, Pennsylvania State University, May 2007.

Hamblin, Bridget., "Vehicle Rollover Prediction from Low Order Dynamic Models or Varying Terrain Encountered During Median Traversal." MS Thesis, Mechanical Engineering, Pennsylvania State University, August 2007.

Lapapong, Sittikorn., "Vehicle Similitude Modeling and Validation of the Pennsylvania State University Rolling Roadway Simulator." MS Thesis, Mechanical Engineering, Pennsylvania State University, May 2007.

Kaiserian, Dan., "Tractor-Trailer Instability Due to Liquid Slosh in a Partially Filled Tank." Honors Thesis, Mechanical Engineering, Pennsylvania State University, May 2007.

Plank, Dennis., "Vehicle to Vehicle Comparison of Tire and Chassis Dynamics." Honors Thesis, Mechanical Engineering, Pennsylvania State University, May 2007.

Weidner, Jon, "Tractor-Trailer Instability of Variably Loaded Container Trucks." Honors Thesis, Mechanical Engineering, Pennsylvania State University, May 2007.


2006 :


2005 :


2004 :


2002 :

Brennan, Sean N. "On Size and Control: The Use of Dimensional Analysis in Controller Design." , Ph.D. Thesis, University of Illinois at Urbana-Champaign, Mechanical and Industrial Engineering, Dec. 2002.


1999 :

Brennan, Sean N.. "Modeling and Control Issues Associated with Scaled Vehicles." M.S. Thesis, Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, August, 1999.

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