James Richard Forbes
Assistant Professor
Mechanical Engineering
McGill University
Canada
Biography
Ph.D. Aerospace Science and Engineering, University of Toronto M.A.Sc. Aerospace Science and Engineering, University of Toronto B.A.Sc. Mechanical Engineering, University of Waterloo
Research Interest
I am interested in control and estimation techniques for mechanical, aerospace, and robotic systems. In particular, I am interested in vibration control, spacecraft attitude control, the control of (flexible) robotic manipulators, and mobile robot localization. I am interested in fundamental theoretical developments, as well as the application of new and existing control theories to practical, real-world problems. Synthesis of controllers, for example, robust yet optimal controllers, using numerical techniques is also of interest to me. My research is primarily motivated by (but not exclusively) aerospace problems; I seek to develop better control and estimation techniques thus enabling Earth science, astronomy, and the commercial development of the Canadian aerospace industry.
Publications
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J. R. Forbes, T.D. Barfoot, C. J. Damaren "Dynamic Modeling and Stability Analysis of a Power-Generating Tumbleweed Rover", Multibody System Dynamics, vol. 24, pp. 413 - 439, December 2010.
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T.D. Barfoot, J. R. Forbes, P.T. Furgale "Pose Estimation Using Linearized Rotations and Quaternion Algebra", Acta Astronautica, vol. 68, pp. 101 - 112, January - February 2011.
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J. R. Forbes, C. J. Damaren "A Hybrid Passivity and Finite Gain Stability Theorem: Stability and Control of Systems Possessing Passivity Violations", IET Control Theory and Applications, vol. 4, no. 9, pp. 1795 - 1806, 2010.
